turtlebot v 01
Dependencies: Servo mbed-rtos mbed PM hormone
Fork of TurtleBot_v01 by
main.cpp@6:8ae55e1f7e76, 2018-07-20 (annotated)
- Committer:
- worasuchad
- Date:
- Fri Jul 20 17:44:07 2018 +0000
- Revision:
- 6:8ae55e1f7e76
- Parent:
- 5:08334c6a42ca
- Child:
- 7:ca887fdc5388
v03
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
worasuchad | 2:18835f8732ad | 1 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 2 | // project: TurtleBot Project // |
worasuchad | 6:8ae55e1f7e76 | 3 | // code v.: 0.3 // |
worasuchad | 2:18835f8732ad | 4 | // board : NUCLEO-F303KB // |
worasuchad | 6:8ae55e1f7e76 | 5 | // date : 19/7/2018 // |
worasuchad | 2:18835f8732ad | 6 | // code by: Worasuchad Haomachai // |
worasuchad | 5:08334c6a42ca | 7 | // detail : // |
worasuchad | 2:18835f8732ad | 8 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 9 | |
worasuchad | 2:18835f8732ad | 10 | ///////////////////////// init //////////////////////////////// |
worasuchad | 2:18835f8732ad | 11 | ////////////////////////////////////////////////////////////////// |
Khanchana | 0:43d21d5145d3 | 12 | #include "mbed.h" |
Khanchana | 0:43d21d5145d3 | 13 | #include "Servo.h" |
Khanchana | 0:43d21d5145d3 | 14 | #include "rtos.h" |
Khanchana | 0:43d21d5145d3 | 15 | #include "attitude.h" |
Khanchana | 1:13164a15fbf6 | 16 | #include "math.h" |
Khanchana | 0:43d21d5145d3 | 17 | |
worasuchad | 6:8ae55e1f7e76 | 18 | Serial pc(USBTX, USBRX); // Serial Port |
Khanchana | 0:43d21d5145d3 | 19 | |
Khanchana | 0:43d21d5145d3 | 20 | Timer timer1; |
Khanchana | 0:43d21d5145d3 | 21 | Thread thread1; |
Khanchana | 0:43d21d5145d3 | 22 | Thread thread2; |
Khanchana | 0:43d21d5145d3 | 23 | |
worasuchad | 6:8ae55e1f7e76 | 24 | Servo Servo1(D4); // Servo Left Up (L1) |
worasuchad | 6:8ae55e1f7e76 | 25 | Servo Servo2(D5); // Servo Left Down (L2) |
worasuchad | 6:8ae55e1f7e76 | 26 | Servo Servo3(D8); // Servo Right Up (R1) |
worasuchad | 6:8ae55e1f7e76 | 27 | Servo Servo4(D9); // Servo Right Down (R2) |
Khanchana | 0:43d21d5145d3 | 28 | |
worasuchad | 2:18835f8732ad | 29 | ///////////////////////// prototype func /////////////////////// |
worasuchad | 2:18835f8732ad | 30 | ////////////////////////////////////////////////////////////////// |
worasuchad | 3:5e867483469e | 31 | void IMU(); |
worasuchad | 2:18835f8732ad | 32 | void servo(); |
worasuchad | 5:08334c6a42ca | 33 | void servoFirstState(); |
worasuchad | 2:18835f8732ad | 34 | void cal_step_down(); |
worasuchad | 2:18835f8732ad | 35 | void cal_step_up(); |
worasuchad | 3:5e867483469e | 36 | void servo_Left(); |
worasuchad | 2:18835f8732ad | 37 | void servo_Right(); |
worasuchad | 5:08334c6a42ca | 38 | |
Khanchana | 0:43d21d5145d3 | 39 | void receive_hormone(); |
worasuchad | 6:8ae55e1f7e76 | 40 | float calculateSD(float [], int ); |
worasuchad | 6:8ae55e1f7e76 | 41 | float calcSDGait(float [], int ); |
worasuchad | 6:8ae55e1f7e76 | 42 | float calculateMean(float [], int ); |
worasuchad | 5:08334c6a42ca | 43 | float HormoneCon(float ); |
worasuchad | 6:8ae55e1f7e76 | 44 | bool checkIMUFirst(float , float, float ); |
worasuchad | 5:08334c6a42ca | 45 | |
worasuchad | 5:08334c6a42ca | 46 | ////// debug func ////// |
worasuchad | 5:08334c6a42ca | 47 | void printStateGait(); |
worasuchad | 2:18835f8732ad | 48 | |
worasuchad | 2:18835f8732ad | 49 | ///////////////////////// variable /////////////////////////////// |
worasuchad | 2:18835f8732ad | 50 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 51 | // global variable |
worasuchad | 5:08334c6a42ca | 52 | int initCheck = 0; |
worasuchad | 5:08334c6a42ca | 53 | float waittime = 0.001 ; |
worasuchad | 5:08334c6a42ca | 54 | float round = 6; |
worasuchad | 6:8ae55e1f7e76 | 55 | float ArrRoll[10], ArrPitch[10], ArrYaw[10]; |
Khanchana | 0:43d21d5145d3 | 56 | |
worasuchad | 6:8ae55e1f7e76 | 57 | // hormone variable |
Khanchana | 1:13164a15fbf6 | 58 | float Cg_down = 0.00; |
Khanchana | 1:13164a15fbf6 | 59 | float Cg_up = 0; |
worasuchad | 2:18835f8732ad | 60 | float Cg = 0.00, CgPrevious = 0.00; |
worasuchad | 3:5e867483469e | 61 | |
worasuchad | 6:8ae55e1f7e76 | 62 | // servo motor variable |
Khanchana | 0:43d21d5145d3 | 63 | float pos_down_start = 1400.00; |
Khanchana | 0:43d21d5145d3 | 64 | float pos_up_start = 1000.00; |
Khanchana | 0:43d21d5145d3 | 65 | float down_degree = 90.00; |
Khanchana | 0:43d21d5145d3 | 66 | float up_degree = 45.00; |
worasuchad | 5:08334c6a42ca | 67 | float stepmin = 1.5; |
Khanchana | 0:43d21d5145d3 | 68 | |
worasuchad | 5:08334c6a42ca | 69 | // servo left side |
Khanchana | 0:43d21d5145d3 | 70 | float pos_down_left = 1400.00; |
Khanchana | 0:43d21d5145d3 | 71 | float pos_up_left = 1000.00; |
Khanchana | 0:43d21d5145d3 | 72 | float pos_down_end_left; |
Khanchana | 0:43d21d5145d3 | 73 | float pos_up_end_left; |
Khanchana | 0:43d21d5145d3 | 74 | float step_down_left; |
Khanchana | 0:43d21d5145d3 | 75 | float step_up_left; |
worasuchad | 6:8ae55e1f7e76 | 76 | int state_count_left = 0; |
worasuchad | 6:8ae55e1f7e76 | 77 | int round_count_left = 0; |
worasuchad | 6:8ae55e1f7e76 | 78 | |
worasuchad | 5:08334c6a42ca | 79 | // servo right side |
Khanchana | 0:43d21d5145d3 | 80 | float pos_down_right = 1400.00; |
Khanchana | 0:43d21d5145d3 | 81 | float pos_up_right = 1000.00; |
Khanchana | 0:43d21d5145d3 | 82 | float pos_down_end_right; |
Khanchana | 0:43d21d5145d3 | 83 | float pos_up_end_right; |
Khanchana | 0:43d21d5145d3 | 84 | float step_up_right; |
Khanchana | 0:43d21d5145d3 | 85 | float step_down_right; |
worasuchad | 6:8ae55e1f7e76 | 86 | int state_count_right = 0; |
worasuchad | 6:8ae55e1f7e76 | 87 | int round_count_right = 0; |
Khanchana | 0:43d21d5145d3 | 88 | |
worasuchad | 6:8ae55e1f7e76 | 89 | // other variable |
worasuchad | 6:8ae55e1f7e76 | 90 | uint32_t getIMUTimer; |
worasuchad | 6:8ae55e1f7e76 | 91 | |
worasuchad | 6:8ae55e1f7e76 | 92 | ////// debug variable ////// |
worasuchad | 5:08334c6a42ca | 93 | // print state gait |
worasuchad | 5:08334c6a42ca | 94 | int stateGaitOne = 0, stateGaitTwo = 0, stateGaitThree = 0, stateGaitFour = 0; |
worasuchad | 6:8ae55e1f7e76 | 95 | int showIMUData = 0; |
worasuchad | 6:8ae55e1f7e76 | 96 | |
worasuchad | 2:18835f8732ad | 97 | ///////////////////////// main //////////////////////////// |
worasuchad | 2:18835f8732ad | 98 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 99 | int main() |
worasuchad | 2:18835f8732ad | 100 | { |
worasuchad | 6:8ae55e1f7e76 | 101 | pc.baud(115200); |
worasuchad | 6:8ae55e1f7e76 | 102 | attitude_setup(); // IMU setup |
worasuchad | 6:8ae55e1f7e76 | 103 | //thread1.start(IMU); // IMU thread start |
worasuchad | 6:8ae55e1f7e76 | 104 | //thread2.start(servo); // servo thread start |
worasuchad | 6:8ae55e1f7e76 | 105 | pc.printf(" Please press! '1' to start..\n\r"); |
worasuchad | 2:18835f8732ad | 106 | if (pc.getc() == '1') |
worasuchad | 3:5e867483469e | 107 | { |
worasuchad | 6:8ae55e1f7e76 | 108 | thread1.start(IMU); // IMU thread start |
worasuchad | 6:8ae55e1f7e76 | 109 | thread2.start(servo); // servo thread start |
worasuchad | 6:8ae55e1f7e76 | 110 | } |
worasuchad | 3:5e867483469e | 111 | } |
worasuchad | 3:5e867483469e | 112 | |
worasuchad | 3:5e867483469e | 113 | ///////////////////////// IMU ///////////////////////////// |
worasuchad | 3:5e867483469e | 114 | ////////////////////////////////////////////////////////////////// |
worasuchad | 3:5e867483469e | 115 | void IMU() |
worasuchad | 3:5e867483469e | 116 | { |
worasuchad | 6:8ae55e1f7e76 | 117 | int iterIMU = 0, iterArr = 0; |
worasuchad | 6:8ae55e1f7e76 | 118 | bool IMUWasStable = false; |
worasuchad | 6:8ae55e1f7e76 | 119 | float ArrayOfRoll[10] = {0.000f}, ArrayOfPitch[10] = {0.000f}, ArrayOfYaw[10] = {0.000f}; |
worasuchad | 5:08334c6a42ca | 120 | float SDOfRoll, SDOfPitch, SDOfYaw, FirstOfRoll, FirstOfPitch, FirstOfYaw; |
worasuchad | 5:08334c6a42ca | 121 | float DiffOfRP = 0.0f; |
worasuchad | 6:8ae55e1f7e76 | 122 | ////// new //////// |
worasuchad | 6:8ae55e1f7e76 | 123 | int iterAxG2 = 0; |
worasuchad | 6:8ae55e1f7e76 | 124 | float ArrayOfAx_G2[80] = {0}, SDOfAx_G2; |
worasuchad | 6:8ae55e1f7e76 | 125 | int state_count_left_old, state_count_right_old; |
worasuchad | 6:8ae55e1f7e76 | 126 | |
worasuchad | 6:8ae55e1f7e76 | 127 | timer1.start(); // start timer counting |
worasuchad | 6:8ae55e1f7e76 | 128 | getIMUTimer = timer1.read_ms(); |
worasuchad | 3:5e867483469e | 129 | /* pc.printf("roll\t"); |
worasuchad | 3:5e867483469e | 130 | pc.printf("Si\t"); |
worasuchad | 3:5e867483469e | 131 | pc.printf("Cg\t"); |
worasuchad | 3:5e867483469e | 132 | pc.printf("down\t"); |
worasuchad | 3:5e867483469e | 133 | pc.printf("up\n"); */ |
worasuchad | 3:5e867483469e | 134 | while(1) |
worasuchad | 3:5e867483469e | 135 | { |
worasuchad | 6:8ae55e1f7e76 | 136 | if ((timer1.read_ms() - getIMUTimer) >= 1) // read time in 1 ms |
worasuchad | 6:8ae55e1f7e76 | 137 | { |
worasuchad | 3:5e867483469e | 138 | attitude_get(); |
worasuchad | 3:5e867483469e | 139 | //pc.printf("%f\t %f\t %f\n\r", roll, pitch, yaw); |
worasuchad | 3:5e867483469e | 140 | //pc.printf("up\t"); |
worasuchad | 3:5e867483469e | 141 | //pc.printf("%f \t",up_degree); |
worasuchad | 3:5e867483469e | 142 | //pc.printf("%f\t",Cg); |
worasuchad | 6:8ae55e1f7e76 | 143 | //pc.printf("down\t"); |
worasuchad | 3:5e867483469e | 144 | //pc.printf("%f \t",down_degree); |
worasuchad | 3:5e867483469e | 145 | //pc.printf("%f\n",Cg); |
worasuchad | 3:5e867483469e | 146 | |
worasuchad | 3:5e867483469e | 147 | ////////////////////////// Signal Pre-Process every 10 ms ////////////////////// |
worasuchad | 3:5e867483469e | 148 | //////////////////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 149 | if(iterIMU < 10) |
worasuchad | 3:5e867483469e | 150 | { |
worasuchad | 6:8ae55e1f7e76 | 151 | ArrayOfRoll[iterIMU] = roll; |
worasuchad | 6:8ae55e1f7e76 | 152 | ArrayOfPitch[iterIMU] = pitch; |
worasuchad | 6:8ae55e1f7e76 | 153 | ArrayOfYaw[iterIMU] = yaw; |
worasuchad | 6:8ae55e1f7e76 | 154 | //pc.printf("%i\t %.3f\t %.3f\t %.3f\n\r",i, roll, pitch, yaw); |
worasuchad | 6:8ae55e1f7e76 | 155 | iterIMU++; |
worasuchad | 3:5e867483469e | 156 | } |
worasuchad | 6:8ae55e1f7e76 | 157 | else // every 10 ms |
worasuchad | 3:5e867483469e | 158 | { |
worasuchad | 5:08334c6a42ca | 159 | ////// print state of gait ///// |
worasuchad | 6:8ae55e1f7e76 | 160 | printStateGait(); |
worasuchad | 5:08334c6a42ca | 161 | |
worasuchad | 6:8ae55e1f7e76 | 162 | //pc.printf("%.3f\t\t %.3f\t\t %.3f\t\t", roll, pitch, yaw ); |
worasuchad | 6:8ae55e1f7e76 | 163 | pc.printf("%.3f\t\t", roll); |
worasuchad | 6:8ae55e1f7e76 | 164 | pc.printf("%.3f\t\t", pitch); |
worasuchad | 6:8ae55e1f7e76 | 165 | pc.printf("%.3f\t\t", yaw); |
worasuchad | 6:8ae55e1f7e76 | 166 | |
worasuchad | 6:8ae55e1f7e76 | 167 | for(iterArr = 0; iterArr < 10 ; iterArr++) |
worasuchad | 6:8ae55e1f7e76 | 168 | { |
worasuchad | 6:8ae55e1f7e76 | 169 | ArrRoll[iterArr] = ArrayOfRoll[iterArr]; |
worasuchad | 6:8ae55e1f7e76 | 170 | ArrPitch[iterArr] = ArrayOfPitch[iterArr]; |
worasuchad | 6:8ae55e1f7e76 | 171 | ArrYaw[iterArr] = ArrayOfYaw[iterArr]; |
worasuchad | 6:8ae55e1f7e76 | 172 | } |
worasuchad | 6:8ae55e1f7e76 | 173 | |
worasuchad | 6:8ae55e1f7e76 | 174 | // the accleration value |
worasuchad | 6:8ae55e1f7e76 | 175 | pc.printf("%.3f\t\t", gx*PI/180.0f); |
worasuchad | 6:8ae55e1f7e76 | 176 | pc.printf("%.3f\t\t", gy*PI/180.0f); |
worasuchad | 6:8ae55e1f7e76 | 177 | pc.printf("%.3f\t\t", gz*PI/180.0f); |
worasuchad | 5:08334c6a42ca | 178 | |
worasuchad | 5:08334c6a42ca | 179 | // the gyro value |
worasuchad | 6:8ae55e1f7e76 | 180 | pc.printf("%.3f\t\t", ax * 9.81f ); // convert g to m/s^2 |
worasuchad | 6:8ae55e1f7e76 | 181 | pc.printf("%.3f\t\t", ay * 9.81f); // convert g to m/s^2 |
worasuchad | 6:8ae55e1f7e76 | 182 | pc.printf("%.3f\n\r", ( az - 1 ) * 9.81f); // m/s^2 and 1g for eliminating earth gravity |
worasuchad | 6:8ae55e1f7e76 | 183 | |
worasuchad | 6:8ae55e1f7e76 | 184 | //pc.printf("HC: %.3f\n\r", HormoneCon(SDOfRoll)); |
worasuchad | 6:8ae55e1f7e76 | 185 | //HormoneCon(SDOfRoll); |
worasuchad | 6:8ae55e1f7e76 | 186 | |
worasuchad | 6:8ae55e1f7e76 | 187 | if(!IMUWasStable) |
worasuchad | 6:8ae55e1f7e76 | 188 | { |
worasuchad | 6:8ae55e1f7e76 | 189 | //////////// roll ////////////// |
worasuchad | 6:8ae55e1f7e76 | 190 | SDOfRoll = calculateSD(ArrRoll, 10); |
worasuchad | 6:8ae55e1f7e76 | 191 | //pc.printf("%.3f\t\t", SDOfRoll); |
worasuchad | 6:8ae55e1f7e76 | 192 | //pc.printf("%.3f\t\t", ArrayOfRoll[9]); |
worasuchad | 6:8ae55e1f7e76 | 193 | |
worasuchad | 6:8ae55e1f7e76 | 194 | //////////// pitch /////////////// |
worasuchad | 6:8ae55e1f7e76 | 195 | SDOfPitch = calculateSD(ArrPitch, 10 ); |
worasuchad | 6:8ae55e1f7e76 | 196 | //pc.printf("%.3f\t\t", SDOfPitch); |
worasuchad | 6:8ae55e1f7e76 | 197 | //pc.printf("%.3f\t\t", ArrayOfPitch[9]); |
worasuchad | 6:8ae55e1f7e76 | 198 | |
worasuchad | 6:8ae55e1f7e76 | 199 | //////////// yaw /////////////// |
worasuchad | 6:8ae55e1f7e76 | 200 | SDOfYaw = calculateSD(ArrYaw, 10 ); |
worasuchad | 6:8ae55e1f7e76 | 201 | //pc.printf("%.3f\n\r", SDOfYaw); |
worasuchad | 6:8ae55e1f7e76 | 202 | //pc.printf("%.3f\t\t", ArrayOfYaw[9]); |
worasuchad | 6:8ae55e1f7e76 | 203 | } |
worasuchad | 5:08334c6a42ca | 204 | |
worasuchad | 6:8ae55e1f7e76 | 205 | if(checkIMUFirst(SDOfRoll, SDOfPitch, SDOfYaw)) // only one time for comming |
worasuchad | 6:8ae55e1f7e76 | 206 | { |
worasuchad | 6:8ae55e1f7e76 | 207 | FirstOfRoll = calculateMean(ArrRoll, 10); |
worasuchad | 6:8ae55e1f7e76 | 208 | FirstOfPitch = calculateMean(ArrPitch, 10); |
worasuchad | 6:8ae55e1f7e76 | 209 | FirstOfYaw = calculateMean(ArrYaw, 10); |
worasuchad | 6:8ae55e1f7e76 | 210 | pc.printf("FirstOfRoll: %.3f, FirstOfPitch: %.3f, FirstOfYaw: %.3f\n\r", FirstOfRoll, FirstOfPitch, FirstOfYaw); |
worasuchad | 6:8ae55e1f7e76 | 211 | |
worasuchad | 6:8ae55e1f7e76 | 212 | state_count_left = 1; |
worasuchad | 6:8ae55e1f7e76 | 213 | round_count_left = 1; |
worasuchad | 6:8ae55e1f7e76 | 214 | state_count_right = 1; |
worasuchad | 6:8ae55e1f7e76 | 215 | round_count_right = 1; |
worasuchad | 6:8ae55e1f7e76 | 216 | IMUWasStable = true; |
worasuchad | 6:8ae55e1f7e76 | 217 | pc.printf("\n\r:::::::::: IMU was stable ::::::::::\n\r"); |
worasuchad | 6:8ae55e1f7e76 | 218 | } |
worasuchad | 6:8ae55e1f7e76 | 219 | |
worasuchad | 6:8ae55e1f7e76 | 220 | ///////// SD of Ax in G2 /////// |
worasuchad | 6:8ae55e1f7e76 | 221 | /* if(state_count_left == 2 and state_count_right == 2 ) |
worasuchad | 6:8ae55e1f7e76 | 222 | { |
worasuchad | 6:8ae55e1f7e76 | 223 | //pc.printf("%d\t %.3f\n\r", iterAxG2, ax * 9.81f ); // convert g to m/s^2 |
worasuchad | 6:8ae55e1f7e76 | 224 | ArrayOfAx_G2[iterAxG2++] = ax * 9.81f; |
worasuchad | 6:8ae55e1f7e76 | 225 | state_count_left_old = state_count_left; |
worasuchad | 6:8ae55e1f7e76 | 226 | state_count_right_old = state_count_right; |
worasuchad | 6:8ae55e1f7e76 | 227 | } |
worasuchad | 6:8ae55e1f7e76 | 228 | else if(state_count_left_old == 2 and state_count_right_old == 2 and state_count_left == 3 and state_count_right == 3) |
worasuchad | 6:8ae55e1f7e76 | 229 | { |
worasuchad | 6:8ae55e1f7e76 | 230 | SDOfAx_G2 = calcSDGait(ArrayOfAx_G2, iterAxG2); |
worasuchad | 6:8ae55e1f7e76 | 231 | //pc.printf("SD of AxG2 %.3f\n\r", SDOfAx_G2); |
worasuchad | 6:8ae55e1f7e76 | 232 | iterAxG2 = 0; |
worasuchad | 6:8ae55e1f7e76 | 233 | memset(ArrayOfAx_G2, 0, sizeof(ArrayOfAx_G2)); |
worasuchad | 6:8ae55e1f7e76 | 234 | state_count_left_old = 0; |
worasuchad | 6:8ae55e1f7e76 | 235 | state_count_right_old = 0; |
worasuchad | 6:8ae55e1f7e76 | 236 | } |
worasuchad | 6:8ae55e1f7e76 | 237 | |
worasuchad | 6:8ae55e1f7e76 | 238 | ///// distance form origin ////// |
worasuchad | 5:08334c6a42ca | 239 | if(state_count_left == 4 and state_count_right == 4 ) |
worasuchad | 5:08334c6a42ca | 240 | { |
worasuchad | 5:08334c6a42ca | 241 | |
worasuchad | 5:08334c6a42ca | 242 | DiffOfRP = sqrt( pow(roll,2) + pow(pitch,2) ); |
worasuchad | 6:8ae55e1f7e76 | 243 | //pc.printf("DiffOfRP %.3f\n\r", DiffOfRP); |
worasuchad | 5:08334c6a42ca | 244 | DiffOfRP = 0.0f; |
worasuchad | 5:08334c6a42ca | 245 | } |
worasuchad | 6:8ae55e1f7e76 | 246 | */ |
worasuchad | 5:08334c6a42ca | 247 | //pc.printf("directOfRobot: %.3f\n\r", directOfRobot); |
worasuchad | 3:5e867483469e | 248 | // func find diff beween directOfRobot and MeanOfYaw |
worasuchad | 4:ec7e68b84f2b | 249 | //pc.printf("Diff from direction: %.3f\n\r", abs(directOfRobot - MeanOfYaw)); |
worasuchad | 5:08334c6a42ca | 250 | |
worasuchad | 6:8ae55e1f7e76 | 251 | /* pc.printf("Cg_down: %f Cg_up: %f \t", Cg_down, Cg_up); |
worasuchad | 5:08334c6a42ca | 252 | pc.printf("down: \t"); |
worasuchad | 5:08334c6a42ca | 253 | pc.printf("%f \t",down_degree); |
worasuchad | 5:08334c6a42ca | 254 | pc.printf("up: \t"); |
worasuchad | 6:8ae55e1f7e76 | 255 | pc.printf("%f \n\r",up_degree); |
worasuchad | 6:8ae55e1f7e76 | 256 | */ |
worasuchad | 3:5e867483469e | 257 | // reset iteration |
worasuchad | 6:8ae55e1f7e76 | 258 | iterIMU = 0; |
worasuchad | 3:5e867483469e | 259 | } |
worasuchad | 6:8ae55e1f7e76 | 260 | getIMUTimer = timer1.read_ms(); |
worasuchad | 3:5e867483469e | 261 | } |
worasuchad | 2:18835f8732ad | 262 | } |
worasuchad | 3:5e867483469e | 263 | } |
worasuchad | 3:5e867483469e | 264 | |
worasuchad | 3:5e867483469e | 265 | ///////////////////////// servo /////////////////////////// |
worasuchad | 3:5e867483469e | 266 | ////////////////////////////////////////////////////////////////// |
worasuchad | 3:5e867483469e | 267 | void servo() |
worasuchad | 2:18835f8732ad | 268 | { |
worasuchad | 6:8ae55e1f7e76 | 269 | Servo1.Enable(1000,20000); |
worasuchad | 3:5e867483469e | 270 | Servo2.Enable(1000,20000); |
worasuchad | 3:5e867483469e | 271 | Servo3.Enable(1000,20000); |
worasuchad | 6:8ae55e1f7e76 | 272 | Servo4.Enable(1000,20000); |
worasuchad | 3:5e867483469e | 273 | |
worasuchad | 6:8ae55e1f7e76 | 274 | Servo1.SetPosition(pos_down_left); |
worasuchad | 6:8ae55e1f7e76 | 275 | Servo2.SetPosition(pos_up_left); |
worasuchad | 6:8ae55e1f7e76 | 276 | Servo3.SetPosition(pos_down_right); |
worasuchad | 6:8ae55e1f7e76 | 277 | Servo4.SetPosition(pos_up_right); |
worasuchad | 6:8ae55e1f7e76 | 278 | |
worasuchad | 6:8ae55e1f7e76 | 279 | //pc.printf("\n\r Servo Start Ja!!! \n\r"); |
worasuchad | 5:08334c6a42ca | 280 | |
worasuchad | 3:5e867483469e | 281 | while(1) |
worasuchad | 3:5e867483469e | 282 | { |
worasuchad | 3:5e867483469e | 283 | receive_hormone(); |
worasuchad | 3:5e867483469e | 284 | cal_step_down(); // return "step_down_right" and "step_down_left" |
worasuchad | 3:5e867483469e | 285 | cal_step_up(); // return "step_up_right" and "step_up_left" |
worasuchad | 3:5e867483469e | 286 | servo_Left(); // control left lag |
worasuchad | 3:5e867483469e | 287 | servo_Right(); // control right leg |
worasuchad | 3:5e867483469e | 288 | |
worasuchad | 6:8ae55e1f7e76 | 289 | // FIN for walking |
worasuchad | 6:8ae55e1f7e76 | 290 | if (state_count_left == 5 and round_count_left == round and state_count_right == 5 and round_count_right == round) |
worasuchad | 3:5e867483469e | 291 | { |
worasuchad | 3:5e867483469e | 292 | thread1.terminate(); |
worasuchad | 6:8ae55e1f7e76 | 293 | pc.printf("FIN! \n\r"); |
worasuchad | 6:8ae55e1f7e76 | 294 | break; |
worasuchad | 3:5e867483469e | 295 | } |
worasuchad | 3:5e867483469e | 296 | } |
worasuchad | 3:5e867483469e | 297 | } |
Khanchana | 0:43d21d5145d3 | 298 | |
worasuchad | 2:18835f8732ad | 299 | ///////////////////////// cal_step_down /////////////////// |
worasuchad | 2:18835f8732ad | 300 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 301 | void cal_step_down() |
worasuchad | 2:18835f8732ad | 302 | { |
Khanchana | 0:43d21d5145d3 | 303 | //pc.printf("down"); |
Khanchana | 0:43d21d5145d3 | 304 | //pc.printf("%f \n",down_degree); |
worasuchad | 2:18835f8732ad | 305 | pos_down_end_left = (1000.00 + ((700.00/90.00)*(down_degree))); // get degree for hormone receiver about down_degree ~ 90*, |
worasuchad | 5:08334c6a42ca | 306 | pos_down_end_right = (1060.00 + ((700.00/90.00)*(down_degree))); // so both pos_down_end_left and pos_down_end_right are around 1700 |
worasuchad | 2:18835f8732ad | 307 | if (pos_down_end_right > pos_down_end_left) |
worasuchad | 2:18835f8732ad | 308 | { |
worasuchad | 2:18835f8732ad | 309 | step_down_right = (pos_down_end_right - pos_down_start)*stepmin/(pos_down_end_left - pos_down_start); //stepmin = 1, pos_down_start = 1400.00 |
Khanchana | 0:43d21d5145d3 | 310 | step_down_left = stepmin; |
worasuchad | 2:18835f8732ad | 311 | } |
worasuchad | 2:18835f8732ad | 312 | else if (pos_down_end_right < pos_down_end_left) |
worasuchad | 2:18835f8732ad | 313 | { |
Khanchana | 0:43d21d5145d3 | 314 | step_down_right = stepmin; |
Khanchana | 0:43d21d5145d3 | 315 | step_down_left = (pos_down_end_left - pos_down_start)*stepmin/(pos_down_end_right - pos_down_start); |
worasuchad | 2:18835f8732ad | 316 | } |
worasuchad | 2:18835f8732ad | 317 | else // pos_down_end_right == pos_down_end_left |
worasuchad | 2:18835f8732ad | 318 | { |
Khanchana | 0:43d21d5145d3 | 319 | step_down_right = stepmin; |
Khanchana | 0:43d21d5145d3 | 320 | step_down_left = stepmin; |
Khanchana | 0:43d21d5145d3 | 321 | } |
worasuchad | 3:5e867483469e | 322 | /*pc.printf("pos_down_right: "); |
worasuchad | 3:5e867483469e | 323 | pc.printf("%f\t\t",pos_down_end_right); |
worasuchad | 3:5e867483469e | 324 | pc.printf("pos_down_left: "); |
worasuchad | 3:5e867483469e | 325 | pc.printf("%f\t\t",pos_down_end_left); |
worasuchad | 3:5e867483469e | 326 | pc.printf("step_down_right: "); |
worasuchad | 3:5e867483469e | 327 | pc.printf("%f\t\t",step_down_right); |
worasuchad | 3:5e867483469e | 328 | pc.printf("step_down_left: "); |
worasuchad | 3:5e867483469e | 329 | pc.printf("%f\n\r",step_down_left);*/ |
Khanchana | 0:43d21d5145d3 | 330 | } |
worasuchad | 2:18835f8732ad | 331 | |
worasuchad | 2:18835f8732ad | 332 | ///////////////////////// cal_step_up ///////////////////// |
worasuchad | 2:18835f8732ad | 333 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 334 | void cal_step_up() |
worasuchad | 2:18835f8732ad | 335 | { |
Khanchana | 0:43d21d5145d3 | 336 | //pc.printf("up"); |
Khanchana | 0:43d21d5145d3 | 337 | //pc.printf("%f \n",up_degree); |
worasuchad | 2:18835f8732ad | 338 | pos_up_end_left = 1000.00 + ((700.00/90.00)*(up_degree)); // get degree for hormone receiver about up_degree ~ 45*, |
worasuchad | 2:18835f8732ad | 339 | pos_up_end_right = 1000.00 + ((700.00/90.00)*(up_degree)); // so both pos_up_end_left and pos_up_end_right are around 1350 |
worasuchad | 2:18835f8732ad | 340 | if (pos_up_end_right > pos_up_end_left) |
worasuchad | 2:18835f8732ad | 341 | { |
worasuchad | 2:18835f8732ad | 342 | step_up_right = (pos_up_end_right - pos_up_start)*stepmin/(pos_up_end_left - pos_up_start); //stepmin = 1, pos_up_start = 1000.00 |
Khanchana | 0:43d21d5145d3 | 343 | step_up_left = stepmin; |
worasuchad | 2:18835f8732ad | 344 | } |
worasuchad | 2:18835f8732ad | 345 | else if (pos_up_end_right < pos_up_end_left) |
worasuchad | 2:18835f8732ad | 346 | { |
Khanchana | 0:43d21d5145d3 | 347 | step_up_right = stepmin; |
Khanchana | 0:43d21d5145d3 | 348 | step_up_left = (pos_up_end_left - pos_up_start)*stepmin/(pos_up_end_right - pos_up_start); |
worasuchad | 2:18835f8732ad | 349 | } |
worasuchad | 2:18835f8732ad | 350 | else // step_up_right == step_up_left |
worasuchad | 2:18835f8732ad | 351 | { |
Khanchana | 0:43d21d5145d3 | 352 | step_up_right = stepmin; |
Khanchana | 0:43d21d5145d3 | 353 | step_up_left = stepmin; |
Khanchana | 0:43d21d5145d3 | 354 | } |
worasuchad | 3:5e867483469e | 355 | /*pc.printf("pos_up_right: "); |
worasuchad | 3:5e867483469e | 356 | pc.printf("%f\t\t",pos_up_end_right); |
worasuchad | 3:5e867483469e | 357 | pc.printf("pos_up_left: "); |
worasuchad | 3:5e867483469e | 358 | pc.printf("%f\t\t",pos_up_end_left); |
worasuchad | 3:5e867483469e | 359 | pc.printf("step_up_right: "); |
worasuchad | 3:5e867483469e | 360 | pc.printf("%f\t\t",step_up_right);; |
worasuchad | 3:5e867483469e | 361 | pc.printf("step_up_left: "); |
worasuchad | 3:5e867483469e | 362 | pc.printf("%f\n\r",step_up_left);*/ |
worasuchad | 5:08334c6a42ca | 363 | } |
worasuchad | 5:08334c6a42ca | 364 | |
worasuchad | 3:5e867483469e | 365 | ///////////////////////// servo_Left ////////////////////// |
worasuchad | 3:5e867483469e | 366 | ////////////////////////////////////////////////////////////////// |
worasuchad | 3:5e867483469e | 367 | void servo_Left() |
worasuchad | 2:18835f8732ad | 368 | { |
worasuchad | 3:5e867483469e | 369 | if(state_count_left == 1) |
worasuchad | 2:18835f8732ad | 370 | { |
worasuchad | 2:18835f8732ad | 371 | Servo1.SetPosition(pos_down_left); // pos_down_left = 1400.00 |
worasuchad | 2:18835f8732ad | 372 | wait(waittime); // 0.001 ms |
worasuchad | 3:5e867483469e | 373 | pos_down_left += step_down_left; |
worasuchad | 2:18835f8732ad | 374 | if(pos_down_left >= pos_down_end_left + step_down_left and pos_up_left == pos_up_start) // pos_down_end_left ~ 1700 |
worasuchad | 2:18835f8732ad | 375 | { |
Khanchana | 0:43d21d5145d3 | 376 | state_count_left = 2; |
Khanchana | 0:43d21d5145d3 | 377 | } |
Khanchana | 0:43d21d5145d3 | 378 | /*pc.printf("LAD"); |
Khanchana | 0:43d21d5145d3 | 379 | pc.printf("%f\n",pos_down_left); |
Khanchana | 0:43d21d5145d3 | 380 | pc.printf("LAP"); |
Khanchana | 0:43d21d5145d3 | 381 | pc.printf("%f\n",pos_up_left);*/ |
worasuchad | 2:18835f8732ad | 382 | } |
worasuchad | 2:18835f8732ad | 383 | else if(state_count_left == 2) |
worasuchad | 2:18835f8732ad | 384 | { |
worasuchad | 2:18835f8732ad | 385 | Servo2.SetPosition(pos_up_left); // pos_up_left = 1000.00 |
Khanchana | 0:43d21d5145d3 | 386 | wait(waittime); |
worasuchad | 3:5e867483469e | 387 | pos_up_left += step_up_left; |
worasuchad | 2:18835f8732ad | 388 | if(pos_down_left >= pos_down_end_left + step_down_left and pos_up_left >= pos_up_end_left + step_up_left) |
worasuchad | 2:18835f8732ad | 389 | { |
Khanchana | 0:43d21d5145d3 | 390 | state_count_left = 3; |
Khanchana | 0:43d21d5145d3 | 391 | } |
Khanchana | 0:43d21d5145d3 | 392 | /*pc.printf("LBD"); |
Khanchana | 0:43d21d5145d3 | 393 | pc.printf("%f\n",pos_down_left); |
Khanchana | 0:43d21d5145d3 | 394 | pc.printf("LBP"); |
Khanchana | 0:43d21d5145d3 | 395 | pc.printf("%f\n",pos_up_left);*/ |
worasuchad | 2:18835f8732ad | 396 | } |
worasuchad | 2:18835f8732ad | 397 | else if(state_count_left == 3) |
worasuchad | 2:18835f8732ad | 398 | { |
Khanchana | 0:43d21d5145d3 | 399 | Servo1.SetPosition(pos_down_left); |
Khanchana | 0:43d21d5145d3 | 400 | wait(waittime); |
worasuchad | 3:5e867483469e | 401 | pos_down_left -= step_down_left; |
worasuchad | 2:18835f8732ad | 402 | if(pos_down_left <= pos_down_start - step_down_left and pos_up_left >= pos_up_end_left + step_up_left) |
worasuchad | 2:18835f8732ad | 403 | { |
Khanchana | 0:43d21d5145d3 | 404 | state_count_left = 4; |
Khanchana | 0:43d21d5145d3 | 405 | } |
Khanchana | 0:43d21d5145d3 | 406 | /*pc.printf("LCD"); |
Khanchana | 0:43d21d5145d3 | 407 | pc.printf("%f\n",pos_down_left); |
Khanchana | 0:43d21d5145d3 | 408 | pc.printf("LCP"); |
Khanchana | 0:43d21d5145d3 | 409 | pc.printf("%f\n",pos_up_left);*/ |
worasuchad | 2:18835f8732ad | 410 | } |
worasuchad | 2:18835f8732ad | 411 | else if(state_count_left == 4) |
worasuchad | 2:18835f8732ad | 412 | { |
Khanchana | 0:43d21d5145d3 | 413 | Servo2.SetPosition(pos_up_left); |
Khanchana | 0:43d21d5145d3 | 414 | wait(waittime); |
worasuchad | 3:5e867483469e | 415 | pos_up_left -= step_up_left; |
worasuchad | 2:18835f8732ad | 416 | if(pos_down_left <= pos_down_start - step_down_left and pos_up_left <= pos_up_start - step_up_left) |
worasuchad | 2:18835f8732ad | 417 | { |
worasuchad | 6:8ae55e1f7e76 | 418 | state_count_left = 5; |
Khanchana | 0:43d21d5145d3 | 419 | } |
Khanchana | 0:43d21d5145d3 | 420 | /*pc.printf("LDD"); |
Khanchana | 0:43d21d5145d3 | 421 | pc.printf("%f\n",pos_down_left); |
Khanchana | 0:43d21d5145d3 | 422 | pc.printf("LDP"); |
Khanchana | 0:43d21d5145d3 | 423 | pc.printf("%f\n",pos_up_left);*/ |
worasuchad | 2:18835f8732ad | 424 | } |
worasuchad | 6:8ae55e1f7e76 | 425 | else if (state_count_left == 5 and round_count_left < round) |
worasuchad | 2:18835f8732ad | 426 | { |
worasuchad | 3:5e867483469e | 427 | round_count_left++; |
Khanchana | 0:43d21d5145d3 | 428 | state_count_left = 1; |
Khanchana | 0:43d21d5145d3 | 429 | pos_down_left = pos_down_start; |
Khanchana | 0:43d21d5145d3 | 430 | pos_up_left = pos_up_start; |
worasuchad | 2:18835f8732ad | 431 | } |
Khanchana | 0:43d21d5145d3 | 432 | } |
worasuchad | 2:18835f8732ad | 433 | |
worasuchad | 2:18835f8732ad | 434 | ///////////////////////// servo_Right ///////////////////// |
worasuchad | 2:18835f8732ad | 435 | ////////////////////////////////////////////////////////////////// |
Khanchana | 0:43d21d5145d3 | 436 | void servo_Right() |
Khanchana | 0:43d21d5145d3 | 437 | { |
worasuchad | 2:18835f8732ad | 438 | if(state_count_right == 1) |
worasuchad | 2:18835f8732ad | 439 | { |
Khanchana | 0:43d21d5145d3 | 440 | Servo3.SetPosition(pos_down_right); |
Khanchana | 0:43d21d5145d3 | 441 | wait(waittime); |
Khanchana | 0:43d21d5145d3 | 442 | pos_down_right = pos_down_right + step_down_right; |
worasuchad | 2:18835f8732ad | 443 | if(pos_down_right >= pos_down_end_right + step_down_right and pos_up_right == pos_up_start) |
worasuchad | 2:18835f8732ad | 444 | { |
Khanchana | 0:43d21d5145d3 | 445 | state_count_right = 2; |
Khanchana | 0:43d21d5145d3 | 446 | } |
Khanchana | 0:43d21d5145d3 | 447 | /*pc.printf("RAD"); |
Khanchana | 0:43d21d5145d3 | 448 | pc.printf("%f\n",pos_down_right); |
Khanchana | 0:43d21d5145d3 | 449 | pc.printf("RAP"); |
Khanchana | 0:43d21d5145d3 | 450 | pc.printf("%f\n",pos_up_right);*/ |
worasuchad | 2:18835f8732ad | 451 | } |
worasuchad | 2:18835f8732ad | 452 | else if(state_count_right == 2) |
worasuchad | 2:18835f8732ad | 453 | { |
Khanchana | 0:43d21d5145d3 | 454 | Servo4.SetPosition(pos_up_right); |
Khanchana | 0:43d21d5145d3 | 455 | wait(waittime); |
Khanchana | 0:43d21d5145d3 | 456 | pos_up_right = pos_up_right + step_up_right; |
worasuchad | 2:18835f8732ad | 457 | if(pos_down_right >= pos_down_end_right + step_down_right and pos_up_right >= pos_up_end_right + step_up_right) |
worasuchad | 2:18835f8732ad | 458 | { |
Khanchana | 0:43d21d5145d3 | 459 | state_count_right = 3; |
Khanchana | 0:43d21d5145d3 | 460 | } |
Khanchana | 0:43d21d5145d3 | 461 | /*pc.printf("RBD"); |
Khanchana | 0:43d21d5145d3 | 462 | pc.printf("%f\n",pos_down_right); |
Khanchana | 0:43d21d5145d3 | 463 | pc.printf("RBP"); |
Khanchana | 0:43d21d5145d3 | 464 | pc.printf("%f\n",pos_up_right);*/ |
worasuchad | 2:18835f8732ad | 465 | } |
worasuchad | 2:18835f8732ad | 466 | else if(state_count_right == 3) |
worasuchad | 2:18835f8732ad | 467 | { |
Khanchana | 0:43d21d5145d3 | 468 | Servo3.SetPosition(pos_down_right); |
Khanchana | 0:43d21d5145d3 | 469 | wait(waittime); |
Khanchana | 0:43d21d5145d3 | 470 | pos_down_right = pos_down_right - step_down_right; |
worasuchad | 2:18835f8732ad | 471 | if(pos_down_right <= pos_down_start - step_down_right and pos_up_right >= pos_up_end_right + step_up_right) |
worasuchad | 2:18835f8732ad | 472 | { |
Khanchana | 0:43d21d5145d3 | 473 | state_count_right = 4; |
Khanchana | 0:43d21d5145d3 | 474 | } |
Khanchana | 0:43d21d5145d3 | 475 | /*pc.printf("RCD"); |
Khanchana | 0:43d21d5145d3 | 476 | pc.printf("%f\n",pos_down_right); |
Khanchana | 0:43d21d5145d3 | 477 | pc.printf("RCP"); |
Khanchana | 0:43d21d5145d3 | 478 | pc.printf("%f\n",pos_up_right);*/ |
worasuchad | 2:18835f8732ad | 479 | } |
worasuchad | 2:18835f8732ad | 480 | else if(state_count_right == 4) |
worasuchad | 2:18835f8732ad | 481 | { |
Khanchana | 0:43d21d5145d3 | 482 | Servo4.SetPosition(pos_up_right); |
worasuchad | 2:18835f8732ad | 483 | wait(waittime); |
Khanchana | 0:43d21d5145d3 | 484 | pos_up_right = pos_up_right - step_up_right; |
worasuchad | 2:18835f8732ad | 485 | if(pos_down_right <= pos_down_start - step_down_right and pos_up_right <= pos_up_start - step_up_right) |
worasuchad | 2:18835f8732ad | 486 | { |
worasuchad | 6:8ae55e1f7e76 | 487 | state_count_right = 5; |
Khanchana | 0:43d21d5145d3 | 488 | } |
Khanchana | 0:43d21d5145d3 | 489 | /*pc.printf("RDD"); |
Khanchana | 0:43d21d5145d3 | 490 | pc.printf("%f\n",pos_down_right); |
Khanchana | 0:43d21d5145d3 | 491 | pc.printf("RDP"); |
Khanchana | 0:43d21d5145d3 | 492 | pc.printf("%f\n",pos_up_right);*/ |
worasuchad | 2:18835f8732ad | 493 | } |
worasuchad | 6:8ae55e1f7e76 | 494 | else if (state_count_right == 5 and round_count_right < round) |
worasuchad | 2:18835f8732ad | 495 | { |
Khanchana | 0:43d21d5145d3 | 496 | round_count_right = round_count_right+1; |
Khanchana | 0:43d21d5145d3 | 497 | state_count_right = 1; |
Khanchana | 0:43d21d5145d3 | 498 | pos_down_right = pos_down_start; |
Khanchana | 0:43d21d5145d3 | 499 | pos_up_right = pos_up_start; |
Khanchana | 0:43d21d5145d3 | 500 | } |
Khanchana | 0:43d21d5145d3 | 501 | } |
Khanchana | 0:43d21d5145d3 | 502 | |
worasuchad | 6:8ae55e1f7e76 | 503 | ///////////////////////// calcSDGait /////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 504 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 505 | float calcSDGait(float sdDataGait[], int iterGait) |
worasuchad | 6:8ae55e1f7e76 | 506 | { |
worasuchad | 6:8ae55e1f7e76 | 507 | float sum = 0.0, mean, standardDeviation = 0.0; |
worasuchad | 6:8ae55e1f7e76 | 508 | int i; |
worasuchad | 6:8ae55e1f7e76 | 509 | |
worasuchad | 6:8ae55e1f7e76 | 510 | //pc.printf("iterGait = %d \n\r", iterGait); |
worasuchad | 6:8ae55e1f7e76 | 511 | for(i = 5; i < (iterGait + 1) - 5 ; i++) |
worasuchad | 6:8ae55e1f7e76 | 512 | { |
worasuchad | 6:8ae55e1f7e76 | 513 | sum += sdDataGait[i]; |
worasuchad | 6:8ae55e1f7e76 | 514 | //pc.printf("sum = %.2f \n\r",sum); |
worasuchad | 6:8ae55e1f7e76 | 515 | } |
worasuchad | 6:8ae55e1f7e76 | 516 | mean = sum/iterGait; |
worasuchad | 6:8ae55e1f7e76 | 517 | //pc.printf("sum = %.2f \n\r",sum); |
worasuchad | 6:8ae55e1f7e76 | 518 | //pc.printf("mean = %.2f \n\r",mean); |
worasuchad | 6:8ae55e1f7e76 | 519 | |
worasuchad | 6:8ae55e1f7e76 | 520 | for(i = 5; i < (iterGait + 1) - 5; i++) |
worasuchad | 6:8ae55e1f7e76 | 521 | { |
worasuchad | 6:8ae55e1f7e76 | 522 | standardDeviation += pow(sdDataGait[i] - mean, 2); |
worasuchad | 6:8ae55e1f7e76 | 523 | //pc.printf("standardDeviation = %.2f \n\r",standardDeviation); |
worasuchad | 6:8ae55e1f7e76 | 524 | } |
worasuchad | 6:8ae55e1f7e76 | 525 | //pc.printf("standardDeviation = %.2f \n\r",standardDeviation); |
worasuchad | 6:8ae55e1f7e76 | 526 | return sqrt(standardDeviation / iterGait); |
worasuchad | 6:8ae55e1f7e76 | 527 | } |
worasuchad | 6:8ae55e1f7e76 | 528 | |
worasuchad | 6:8ae55e1f7e76 | 529 | ///////////////////////// calculateSD ///////////////////// |
worasuchad | 6:8ae55e1f7e76 | 530 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 531 | float calculateSD(float sdData[], int size) |
worasuchad | 6:8ae55e1f7e76 | 532 | { |
worasuchad | 6:8ae55e1f7e76 | 533 | float sum = 0.0, mean, standardDeviation = 0.0; |
worasuchad | 6:8ae55e1f7e76 | 534 | int i; |
worasuchad | 6:8ae55e1f7e76 | 535 | |
worasuchad | 6:8ae55e1f7e76 | 536 | for(i = 0; i < size ; i++) |
worasuchad | 6:8ae55e1f7e76 | 537 | { |
worasuchad | 6:8ae55e1f7e76 | 538 | sum += sdData[i]; |
worasuchad | 6:8ae55e1f7e76 | 539 | //pc.printf("sum = %.2f \n\r",sum); |
worasuchad | 6:8ae55e1f7e76 | 540 | } |
worasuchad | 6:8ae55e1f7e76 | 541 | mean = sum/size; |
worasuchad | 6:8ae55e1f7e76 | 542 | //pc.printf("mean = %.2f \n\r",mean); |
worasuchad | 6:8ae55e1f7e76 | 543 | |
worasuchad | 6:8ae55e1f7e76 | 544 | for(i = 0; i < size; i++) |
worasuchad | 6:8ae55e1f7e76 | 545 | { |
worasuchad | 6:8ae55e1f7e76 | 546 | standardDeviation += pow(sdData[i] - mean, 2); |
worasuchad | 6:8ae55e1f7e76 | 547 | //pc.printf("standardDeviation = %.2f \n\r",standardDeviation); |
worasuchad | 6:8ae55e1f7e76 | 548 | } |
worasuchad | 6:8ae55e1f7e76 | 549 | return sqrt(standardDeviation / size); |
worasuchad | 6:8ae55e1f7e76 | 550 | } |
worasuchad | 6:8ae55e1f7e76 | 551 | |
worasuchad | 6:8ae55e1f7e76 | 552 | ///////////////////////// calculateMean /////////////////// |
worasuchad | 6:8ae55e1f7e76 | 553 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 554 | float calculateMean(float meanData[], int size) |
worasuchad | 6:8ae55e1f7e76 | 555 | { |
worasuchad | 6:8ae55e1f7e76 | 556 | float sum = 0.0, mean; |
worasuchad | 6:8ae55e1f7e76 | 557 | int i; |
worasuchad | 6:8ae55e1f7e76 | 558 | |
worasuchad | 6:8ae55e1f7e76 | 559 | for(i = 0; i < size ; ++i) |
worasuchad | 6:8ae55e1f7e76 | 560 | { |
worasuchad | 6:8ae55e1f7e76 | 561 | sum += meanData[i]; |
worasuchad | 6:8ae55e1f7e76 | 562 | //pc.printf("sum = %.2f \n\r",sum); |
worasuchad | 6:8ae55e1f7e76 | 563 | } |
worasuchad | 6:8ae55e1f7e76 | 564 | mean = sum/size; |
worasuchad | 6:8ae55e1f7e76 | 565 | //pc.printf("mean = %.2f \n\r",mean); |
worasuchad | 6:8ae55e1f7e76 | 566 | return mean; |
worasuchad | 6:8ae55e1f7e76 | 567 | } |
worasuchad | 6:8ae55e1f7e76 | 568 | |
worasuchad | 6:8ae55e1f7e76 | 569 | ///////////////////////// check IMU first ////////////////// |
worasuchad | 6:8ae55e1f7e76 | 570 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 571 | bool checkIMUFirst(float SDOfRoll, float SDOfPitch, float SDOfYaw) |
worasuchad | 6:8ae55e1f7e76 | 572 | { |
worasuchad | 6:8ae55e1f7e76 | 573 | if( SDOfRoll < 0.03f and SDOfPitch < 0.03f and SDOfYaw < 0.03f and initCheck == 0) |
worasuchad | 6:8ae55e1f7e76 | 574 | { |
worasuchad | 6:8ae55e1f7e76 | 575 | initCheck = 1; |
worasuchad | 6:8ae55e1f7e76 | 576 | return true; |
worasuchad | 6:8ae55e1f7e76 | 577 | } |
worasuchad | 6:8ae55e1f7e76 | 578 | return false; |
worasuchad | 6:8ae55e1f7e76 | 579 | } |
worasuchad | 6:8ae55e1f7e76 | 580 | |
worasuchad | 2:18835f8732ad | 581 | ///////////////// Hormone Concentration ///////////////////// |
worasuchad | 2:18835f8732ad | 582 | ////////////////////////////////////////////////////////////////// |
worasuchad | 2:18835f8732ad | 583 | float HormoneCon(float SiPreProcess) |
worasuchad | 2:18835f8732ad | 584 | { |
worasuchad | 2:18835f8732ad | 585 | float CgTemp; |
worasuchad | 2:18835f8732ad | 586 | |
worasuchad | 2:18835f8732ad | 587 | //pc.printf("SiPreProcess: %.3f\t", SiPreProcess); |
worasuchad | 2:18835f8732ad | 588 | //pc.printf("CgPrevious: %.3f\t", CgPrevious); |
worasuchad | 2:18835f8732ad | 589 | |
worasuchad | 2:18835f8732ad | 590 | ////// hormone gland ////// |
worasuchad | 2:18835f8732ad | 591 | CgTemp = (0.8f*SiPreProcess) + (0.5f*CgPrevious); |
worasuchad | 5:08334c6a42ca | 592 | //pc.printf("CgTemp: %.3f\t\t", CgTemp); |
worasuchad | 2:18835f8732ad | 593 | Cg = 1/( 1+exp(-CgTemp) ); // used sigmoid func for calculating Cg which much have value between 0 - 1 |
worasuchad | 5:08334c6a42ca | 594 | //pc.printf("Cg: %.3f\n\r", Cg); |
worasuchad | 2:18835f8732ad | 595 | /////////////////////////// |
worasuchad | 2:18835f8732ad | 596 | |
worasuchad | 2:18835f8732ad | 597 | //pc.printf("First Term: %.3f\t", (float)(0.8f*SiPreProcess)); |
worasuchad | 2:18835f8732ad | 598 | //pc.printf("Secound Term: %.3f\t", (float)(0.5f*CgPrevious)); |
worasuchad | 2:18835f8732ad | 599 | CgPrevious = Cg; |
worasuchad | 2:18835f8732ad | 600 | //*********// |
worasuchad | 2:18835f8732ad | 601 | Cg_down = Cg; |
worasuchad | 2:18835f8732ad | 602 | Cg_up = Cg; |
worasuchad | 2:18835f8732ad | 603 | |
worasuchad | 2:18835f8732ad | 604 | return Cg; |
Khanchana | 0:43d21d5145d3 | 605 | } |
Khanchana | 0:43d21d5145d3 | 606 | |
worasuchad | 6:8ae55e1f7e76 | 607 | ///////////////////////// receive_hormone ///////////////// |
worasuchad | 2:18835f8732ad | 608 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 609 | void receive_hormone() |
worasuchad | 2:18835f8732ad | 610 | { |
worasuchad | 6:8ae55e1f7e76 | 611 | //down_degree = 90.00f*(1.00f-(0.06f*Cg_down)); |
worasuchad | 6:8ae55e1f7e76 | 612 | down_degree = 85.00; |
worasuchad | 6:8ae55e1f7e76 | 613 | /*pc.printf("Cg_down: %f Cg_up: %f \t", Cg_down, Cg_up); |
worasuchad | 6:8ae55e1f7e76 | 614 | pc.printf("down: \t"); |
worasuchad | 6:8ae55e1f7e76 | 615 | pc.printf("%f \t",down_degree);*/ |
worasuchad | 6:8ae55e1f7e76 | 616 | //pc.printf("%f\t",Cg); |
worasuchad | 6:8ae55e1f7e76 | 617 | //up_degree = 45.00f*(1.00f+(0.7f*Cg_up)); |
worasuchad | 6:8ae55e1f7e76 | 618 | up_degree = 45.00; |
worasuchad | 6:8ae55e1f7e76 | 619 | /*pc.printf("up: \t"); |
worasuchad | 6:8ae55e1f7e76 | 620 | pc.printf("%f \n\r",up_degree);*/ |
worasuchad | 6:8ae55e1f7e76 | 621 | //pc.printf("%f\n",Cg); |
worasuchad | 6:8ae55e1f7e76 | 622 | if(down_degree < 85) |
worasuchad | 2:18835f8732ad | 623 | { |
worasuchad | 6:8ae55e1f7e76 | 624 | down_degree = 85; |
worasuchad | 6:8ae55e1f7e76 | 625 | if(up_degree > 75) |
worasuchad | 6:8ae55e1f7e76 | 626 | { |
worasuchad | 6:8ae55e1f7e76 | 627 | up_degree = 75; |
worasuchad | 6:8ae55e1f7e76 | 628 | } |
Khanchana | 0:43d21d5145d3 | 629 | } |
worasuchad | 3:5e867483469e | 630 | } |
worasuchad | 3:5e867483469e | 631 | |
worasuchad | 6:8ae55e1f7e76 | 632 | ///////////////////// Print State Gait ////////////////////// |
worasuchad | 3:5e867483469e | 633 | ////////////////////////////////////////////////////////////////// |
worasuchad | 6:8ae55e1f7e76 | 634 | void printStateGait() |
worasuchad | 3:5e867483469e | 635 | { |
worasuchad | 6:8ae55e1f7e76 | 636 | if(state_count_left == 1 and state_count_right == 1 and stateGaitOne == 0) |
worasuchad | 3:5e867483469e | 637 | { |
worasuchad | 6:8ae55e1f7e76 | 638 | pc.printf("\n\r State Gait 1 \n\r"); |
worasuchad | 6:8ae55e1f7e76 | 639 | stateGaitOne = 1; stateGaitTwo = 0; stateGaitThree = 0; stateGaitFour = 0; |
worasuchad | 6:8ae55e1f7e76 | 640 | } |
worasuchad | 6:8ae55e1f7e76 | 641 | else if(state_count_left == 2 and state_count_right == 2 and stateGaitTwo == 0) |
worasuchad | 5:08334c6a42ca | 642 | { |
worasuchad | 6:8ae55e1f7e76 | 643 | pc.printf("\n\r State Gait 2 \n\r"); |
worasuchad | 6:8ae55e1f7e76 | 644 | stateGaitOne = 0; stateGaitTwo = 1; stateGaitThree = 0; stateGaitFour = 0; |
worasuchad | 5:08334c6a42ca | 645 | } |
worasuchad | 6:8ae55e1f7e76 | 646 | else if(state_count_left == 3 and state_count_right == 3 and stateGaitThree == 0) |
worasuchad | 6:8ae55e1f7e76 | 647 | { |
worasuchad | 6:8ae55e1f7e76 | 648 | pc.printf("\n\r State Gait 3 \n\r"); |
worasuchad | 6:8ae55e1f7e76 | 649 | stateGaitOne = 0; stateGaitTwo = 0; stateGaitThree = 1; stateGaitFour = 0; |
worasuchad | 6:8ae55e1f7e76 | 650 | } |
worasuchad | 6:8ae55e1f7e76 | 651 | else if(state_count_left == 4 and state_count_right == 4 and stateGaitFour == 0) |
worasuchad | 6:8ae55e1f7e76 | 652 | { |
worasuchad | 6:8ae55e1f7e76 | 653 | pc.printf("\n\r State Gait 4 \n\r"); |
worasuchad | 6:8ae55e1f7e76 | 654 | stateGaitOne = 0; stateGaitTwo = 0; stateGaitThree = 0; stateGaitFour = 1; |
worasuchad | 6:8ae55e1f7e76 | 655 | } |
Khanchana | 0:43d21d5145d3 | 656 | } |