demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@18:224289104fc0, 2016-01-23 (annotated)
- Committer:
- henryrawas
- Date:
- Sat Jan 23 00:08:30 2016 +0000
- Revision:
- 18:224289104fc0
- Parent:
- 15:4bd10f531cdc
- Child:
- 19:2f0ec9ac1238
refactor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryrawas | 4:36a4eceb1b7f | 1 | #include "mbed.h" |
henryrawas | 4:36a4eceb1b7f | 2 | #include "rtos.h" |
henryrawas | 4:36a4eceb1b7f | 3 | |
henryrawas | 4:36a4eceb1b7f | 4 | #include <vector> |
henryrawas | 18:224289104fc0 | 5 | |
henryrawas | 18:224289104fc0 | 6 | #include "DynamixelBus.h" |
henryrawas | 18:224289104fc0 | 7 | #include "NodeAX12.h" |
henryrawas | 18:224289104fc0 | 8 | #include "NodeEmul.h" |
henryrawas | 18:224289104fc0 | 9 | #include "RobotArm.h" |
henryrawas | 4:36a4eceb1b7f | 10 | |
henryrawas | 4:36a4eceb1b7f | 11 | using namespace std; |
henryrawas | 4:36a4eceb1b7f | 12 | |
henryrawas | 18:224289104fc0 | 13 | // create the bus interface for this device |
henryrawas | 11:3a2e6eb9fbb8 | 14 | DynamixelBus dynbus( PTC17, PTC16, D7, D6, 500000 ); |
henryrawas | 4:36a4eceb1b7f | 15 | |
henryrawas | 4:36a4eceb1b7f | 16 | |
henryrawas | 13:ffeff9b5e513 | 17 | // default to move every 25 ms |
henryrawas | 13:ffeff9b5e513 | 18 | #define StepPeriodMs 25 |
henryrawas | 13:ffeff9b5e513 | 19 | |
henryrawas | 13:ffeff9b5e513 | 20 | // Thresholds |
henryrawas | 13:ffeff9b5e513 | 21 | // allow 3 degrees plus requested move diff for position error |
henryrawas | 13:ffeff9b5e513 | 22 | #define PositionErrorAllow 3.0f |
henryrawas | 13:ffeff9b5e513 | 23 | // time for continuous position error |
henryrawas | 13:ffeff9b5e513 | 24 | #define FailMsLimit 250 |
henryrawas | 13:ffeff9b5e513 | 25 | // load level allowance |
henryrawas | 13:ffeff9b5e513 | 26 | #define MaxLoadLimit 950.0f |
henryrawas | 13:ffeff9b5e513 | 27 | // Temperature limit |
henryrawas | 13:ffeff9b5e513 | 28 | #define MaxTemp 69 |
henryrawas | 13:ffeff9b5e513 | 29 | // Voltage limits |
henryrawas | 13:ffeff9b5e513 | 30 | #define MaxVoltLimit 13 |
henryrawas | 13:ffeff9b5e513 | 31 | #define MinVoltLimit 10 |
henryrawas | 13:ffeff9b5e513 | 32 | |
henryrawas | 18:224289104fc0 | 33 | // should arm test for positions ? |
henryrawas | 18:224289104fc0 | 34 | #define TestPositions false |
henryrawas | 18:224289104fc0 | 35 | |
henryrawas | 7:6723f6887d00 | 36 | |
henryrawas | 4:36a4eceb1b7f | 37 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 38 | { |
henryrawas | 4:36a4eceb1b7f | 39 | // build arm |
henryrawas | 13:ffeff9b5e513 | 40 | for (int ix = 0; ix < NUMJOINTS; ix++) |
henryrawas | 10:9b21566a5ddb | 41 | { |
henryrawas | 18:224289104fc0 | 42 | NodePartType nt = ArmJoints[ix].JointType; |
henryrawas | 18:224289104fc0 | 43 | switch (nt) |
henryrawas | 18:224289104fc0 | 44 | { |
henryrawas | 18:224289104fc0 | 45 | case NT_AX12: |
henryrawas | 18:224289104fc0 | 46 | _armParts[ix] = dynamic_cast<RobotNode*>(new NodeAX12(&dynbus, ArmJoints[ix].JointId)); |
henryrawas | 18:224289104fc0 | 47 | break; |
henryrawas | 18:224289104fc0 | 48 | |
henryrawas | 18:224289104fc0 | 49 | case NT_Emul: |
henryrawas | 18:224289104fc0 | 50 | _armParts[ix] = dynamic_cast<RobotNode*>(new NodeEmul(ArmJoints[ix].JointId)); |
henryrawas | 18:224289104fc0 | 51 | break; |
henryrawas | 18:224289104fc0 | 52 | |
henryrawas | 18:224289104fc0 | 53 | default: |
henryrawas | 18:224289104fc0 | 54 | printf("Error! Unknown node type defined"); |
henryrawas | 18:224289104fc0 | 55 | _armParts[ix] = NULL; |
henryrawas | 18:224289104fc0 | 56 | break; |
henryrawas | 18:224289104fc0 | 57 | } |
henryrawas | 18:224289104fc0 | 58 | |
henryrawas | 18:224289104fc0 | 59 | _armParts[ix]->DoAction(NA_Init, 0.0f); |
henryrawas | 10:9b21566a5ddb | 60 | } |
henryrawas | 18:224289104fc0 | 61 | |
henryrawas | 13:ffeff9b5e513 | 62 | _numParts = NUMJOINTS; |
henryrawas | 4:36a4eceb1b7f | 63 | |
henryrawas | 18:224289104fc0 | 64 | _numsteps = 0; |
henryrawas | 13:ffeff9b5e513 | 65 | _stepms = StepPeriodMs; |
henryrawas | 4:36a4eceb1b7f | 66 | } |
henryrawas | 4:36a4eceb1b7f | 67 | |
henryrawas | 13:ffeff9b5e513 | 68 | |
henryrawas | 11:3a2e6eb9fbb8 | 69 | void RobotArm::ClearErrorState() |
henryrawas | 11:3a2e6eb9fbb8 | 70 | { |
henryrawas | 13:ffeff9b5e513 | 71 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 11:3a2e6eb9fbb8 | 72 | { |
henryrawas | 13:ffeff9b5e513 | 73 | _armParts[ix]->DoAction(NA_ClearError, 0.0f); |
henryrawas | 18:224289104fc0 | 74 | _failms[ix] = 0; |
henryrawas | 11:3a2e6eb9fbb8 | 75 | } |
henryrawas | 11:3a2e6eb9fbb8 | 76 | } |
henryrawas | 4:36a4eceb1b7f | 77 | |
henryrawas | 4:36a4eceb1b7f | 78 | // move all parts to specified postions in ms time |
henryrawas | 13:ffeff9b5e513 | 79 | bool RobotArm::MoveArmPositionsStart(float positions[], int totms) |
henryrawas | 4:36a4eceb1b7f | 80 | { |
henryrawas | 4:36a4eceb1b7f | 81 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 82 | |
henryrawas | 4:36a4eceb1b7f | 83 | MoveArmPositionsEnd(); |
henryrawas | 13:ffeff9b5e513 | 84 | |
henryrawas | 18:224289104fc0 | 85 | GetArmPositions(_lastpos); |
henryrawas | 8:d98e2dec0f40 | 86 | |
henryrawas | 18:224289104fc0 | 87 | _numsteps = totms / _stepms; |
henryrawas | 18:224289104fc0 | 88 | if (_numsteps == 0) _numsteps = 1; |
henryrawas | 7:6723f6887d00 | 89 | |
henryrawas | 8:d98e2dec0f40 | 90 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 91 | { |
henryrawas | 7:6723f6887d00 | 92 | if (positions[ix] > 0.0f) |
henryrawas | 7:6723f6887d00 | 93 | { |
henryrawas | 18:224289104fc0 | 94 | _endgoals[ix] = positions[ix]; |
henryrawas | 18:224289104fc0 | 95 | float difference = (positions[ix] - _lastpos[ix]) / (float)_numsteps; |
henryrawas | 18:224289104fc0 | 96 | _differentials[ix] = difference; |
henryrawas | 7:6723f6887d00 | 97 | } |
henryrawas | 7:6723f6887d00 | 98 | else |
henryrawas | 7:6723f6887d00 | 99 | { |
henryrawas | 7:6723f6887d00 | 100 | // negative goal. Treat as don't move |
henryrawas | 18:224289104fc0 | 101 | _differentials[ix] = 0.0f; |
henryrawas | 7:6723f6887d00 | 102 | } |
henryrawas | 18:224289104fc0 | 103 | _failms[ix] = 0; |
henryrawas | 4:36a4eceb1b7f | 104 | } |
henryrawas | 4:36a4eceb1b7f | 105 | |
henryrawas | 18:224289104fc0 | 106 | _curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 107 | |
henryrawas | 18:224289104fc0 | 108 | _delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 109 | |
henryrawas | 18:224289104fc0 | 110 | _elapseTimer.start(); |
henryrawas | 18:224289104fc0 | 111 | _expDelay = (int)_elapseTimer.read_ms() + _delayms; |
henryrawas | 13:ffeff9b5e513 | 112 | |
henryrawas | 13:ffeff9b5e513 | 113 | return true; |
henryrawas | 13:ffeff9b5e513 | 114 | } |
henryrawas | 13:ffeff9b5e513 | 115 | |
henryrawas | 13:ffeff9b5e513 | 116 | // continue interrupted action |
henryrawas | 13:ffeff9b5e513 | 117 | bool RobotArm::MoveArmPositionsResume() |
henryrawas | 13:ffeff9b5e513 | 118 | { |
henryrawas | 18:224289104fc0 | 119 | if (_curstep > _numsteps) |
henryrawas | 13:ffeff9b5e513 | 120 | { |
henryrawas | 13:ffeff9b5e513 | 121 | // no more steps |
henryrawas | 13:ffeff9b5e513 | 122 | MoveArmPositionsEnd(); |
henryrawas | 13:ffeff9b5e513 | 123 | return true; |
henryrawas | 13:ffeff9b5e513 | 124 | } |
henryrawas | 18:224289104fc0 | 125 | GetArmPositions(_lastpos); |
henryrawas | 13:ffeff9b5e513 | 126 | |
henryrawas | 13:ffeff9b5e513 | 127 | // reset numsteps to be what was remaining |
henryrawas | 18:224289104fc0 | 128 | _numsteps = _numsteps - _curstep + 1; |
henryrawas | 13:ffeff9b5e513 | 129 | |
henryrawas | 13:ffeff9b5e513 | 130 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 131 | { |
henryrawas | 18:224289104fc0 | 132 | if (_endgoals[ix] > 0.0f) |
henryrawas | 13:ffeff9b5e513 | 133 | { |
henryrawas | 18:224289104fc0 | 134 | float difference = (_endgoals[ix] - _lastpos[ix]) / (float)_numsteps; |
henryrawas | 18:224289104fc0 | 135 | _differentials[ix] = difference; |
henryrawas | 13:ffeff9b5e513 | 136 | } |
henryrawas | 13:ffeff9b5e513 | 137 | else |
henryrawas | 13:ffeff9b5e513 | 138 | { |
henryrawas | 13:ffeff9b5e513 | 139 | // negative goal. Treat as don't move |
henryrawas | 18:224289104fc0 | 140 | _differentials[ix] = 0.0f; |
henryrawas | 13:ffeff9b5e513 | 141 | } |
henryrawas | 18:224289104fc0 | 142 | _failms[ix] = 0; |
henryrawas | 13:ffeff9b5e513 | 143 | } |
henryrawas | 13:ffeff9b5e513 | 144 | |
henryrawas | 18:224289104fc0 | 145 | _curstep = 1; |
henryrawas | 13:ffeff9b5e513 | 146 | |
henryrawas | 18:224289104fc0 | 147 | _delayms = _stepms; |
henryrawas | 13:ffeff9b5e513 | 148 | |
henryrawas | 18:224289104fc0 | 149 | _elapseTimer.start(); |
henryrawas | 18:224289104fc0 | 150 | _expDelay = (int)_elapseTimer.read_ms() + _delayms; |
henryrawas | 4:36a4eceb1b7f | 151 | |
henryrawas | 4:36a4eceb1b7f | 152 | return true; |
henryrawas | 4:36a4eceb1b7f | 153 | } |
henryrawas | 4:36a4eceb1b7f | 154 | |
henryrawas | 4:36a4eceb1b7f | 155 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 156 | { |
henryrawas | 18:224289104fc0 | 157 | return (_curstep <= _numsteps); |
henryrawas | 4:36a4eceb1b7f | 158 | } |
henryrawas | 4:36a4eceb1b7f | 159 | |
henryrawas | 7:6723f6887d00 | 160 | bool RobotArm::MoveArmPositionsNext() |
henryrawas | 4:36a4eceb1b7f | 161 | { |
henryrawas | 4:36a4eceb1b7f | 162 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 163 | |
henryrawas | 18:224289104fc0 | 164 | if (_curstep > _numsteps) |
henryrawas | 4:36a4eceb1b7f | 165 | { |
henryrawas | 4:36a4eceb1b7f | 166 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 167 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 168 | return true; |
henryrawas | 4:36a4eceb1b7f | 169 | } |
henryrawas | 4:36a4eceb1b7f | 170 | |
henryrawas | 4:36a4eceb1b7f | 171 | bool ok = true; |
henryrawas | 7:6723f6887d00 | 172 | |
henryrawas | 8:d98e2dec0f40 | 173 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 174 | { |
henryrawas | 4:36a4eceb1b7f | 175 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 176 | { |
henryrawas | 18:224289104fc0 | 177 | float goal = (_curstep == _numsteps || _differentials[ix] == 0.0f) ? |
henryrawas | 18:224289104fc0 | 178 | _endgoals[ix] : // last step - use actual goal |
henryrawas | 18:224289104fc0 | 179 | (_lastpos[ix] + (_differentials[ix] * (float)_curstep)); |
henryrawas | 18:224289104fc0 | 180 | _lastgoals[ix] = goal; |
henryrawas | 18:224289104fc0 | 181 | if (_differentials[ix] != 0.0f) |
henryrawas | 4:36a4eceb1b7f | 182 | { |
henryrawas | 7:6723f6887d00 | 183 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 7:6723f6887d00 | 184 | if (!ok) |
henryrawas | 7:6723f6887d00 | 185 | { |
henryrawas | 7:6723f6887d00 | 186 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 187 | _lastError = _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 7:6723f6887d00 | 188 | _lastPosDiff = 0; |
henryrawas | 7:6723f6887d00 | 189 | break; |
henryrawas | 7:6723f6887d00 | 190 | } |
henryrawas | 4:36a4eceb1b7f | 191 | } |
henryrawas | 4:36a4eceb1b7f | 192 | } |
henryrawas | 4:36a4eceb1b7f | 193 | } |
henryrawas | 4:36a4eceb1b7f | 194 | |
henryrawas | 4:36a4eceb1b7f | 195 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 196 | { |
henryrawas | 4:36a4eceb1b7f | 197 | return false; |
henryrawas | 4:36a4eceb1b7f | 198 | } |
henryrawas | 4:36a4eceb1b7f | 199 | |
henryrawas | 18:224289104fc0 | 200 | _curstep++; |
henryrawas | 18:224289104fc0 | 201 | if (_curstep > _numsteps) |
henryrawas | 4:36a4eceb1b7f | 202 | { |
henryrawas | 4:36a4eceb1b7f | 203 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 204 | } |
henryrawas | 7:6723f6887d00 | 205 | |
henryrawas | 7:6723f6887d00 | 206 | return true; |
henryrawas | 7:6723f6887d00 | 207 | } |
henryrawas | 7:6723f6887d00 | 208 | |
henryrawas | 7:6723f6887d00 | 209 | // calculate actual delay until expDelay |
henryrawas | 7:6723f6887d00 | 210 | bool RobotArm::MoveArmPositionsDelay(int& nextdelay) |
henryrawas | 7:6723f6887d00 | 211 | { |
henryrawas | 18:224289104fc0 | 212 | if (_curstep <= _numsteps) |
henryrawas | 7:6723f6887d00 | 213 | { |
henryrawas | 18:224289104fc0 | 214 | int elapsed = (int)_elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 215 | |
henryrawas | 18:224289104fc0 | 216 | if (elapsed <= _expDelay) |
henryrawas | 4:36a4eceb1b7f | 217 | { |
henryrawas | 18:224289104fc0 | 218 | if (_expDelay - elapsed < _delayms) |
henryrawas | 18:224289104fc0 | 219 | nextdelay = _expDelay - elapsed; |
henryrawas | 4:36a4eceb1b7f | 220 | else |
henryrawas | 18:224289104fc0 | 221 | nextdelay = _delayms; |
henryrawas | 7:6723f6887d00 | 222 | // set next expected time by adding step delay |
henryrawas | 18:224289104fc0 | 223 | _expDelay += _delayms; |
henryrawas | 4:36a4eceb1b7f | 224 | } |
henryrawas | 4:36a4eceb1b7f | 225 | else |
henryrawas | 4:36a4eceb1b7f | 226 | { |
henryrawas | 18:224289104fc0 | 227 | nextdelay = _delayms; |
henryrawas | 7:6723f6887d00 | 228 | // set next expected time to now plus step delay |
henryrawas | 18:224289104fc0 | 229 | _expDelay = elapsed + _delayms; |
henryrawas | 4:36a4eceb1b7f | 230 | } |
henryrawas | 7:6723f6887d00 | 231 | } |
henryrawas | 7:6723f6887d00 | 232 | else |
henryrawas | 7:6723f6887d00 | 233 | { |
henryrawas | 18:224289104fc0 | 234 | nextdelay = _delayms; |
henryrawas | 4:36a4eceb1b7f | 235 | } |
henryrawas | 4:36a4eceb1b7f | 236 | |
henryrawas | 4:36a4eceb1b7f | 237 | return true; |
henryrawas | 4:36a4eceb1b7f | 238 | } |
henryrawas | 4:36a4eceb1b7f | 239 | |
henryrawas | 13:ffeff9b5e513 | 240 | // set goal to current position |
henryrawas | 13:ffeff9b5e513 | 241 | // prevents jump when obstruction is removed |
henryrawas | 13:ffeff9b5e513 | 242 | void RobotArm::MoveArmPositionsStop() |
henryrawas | 5:36916b1c5a06 | 243 | { |
henryrawas | 13:ffeff9b5e513 | 244 | float curpos[NUMJOINTS]; |
henryrawas | 5:36916b1c5a06 | 245 | GetArmPositions(curpos); |
henryrawas | 13:ffeff9b5e513 | 246 | |
henryrawas | 8:d98e2dec0f40 | 247 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 5:36916b1c5a06 | 248 | { |
henryrawas | 13:ffeff9b5e513 | 249 | (void)_armParts[ix]->DoAction(NA_Rotate, curpos[ix]); |
henryrawas | 13:ffeff9b5e513 | 250 | } |
henryrawas | 13:ffeff9b5e513 | 251 | } |
henryrawas | 7:6723f6887d00 | 252 | |
henryrawas | 4:36a4eceb1b7f | 253 | bool RobotArm::MoveArmPositionsEnd() |
henryrawas | 4:36a4eceb1b7f | 254 | { |
henryrawas | 18:224289104fc0 | 255 | if (_numsteps > 0) |
henryrawas | 4:36a4eceb1b7f | 256 | { |
henryrawas | 18:224289104fc0 | 257 | _elapseTimer.stop(); |
henryrawas | 18:224289104fc0 | 258 | _numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 259 | } |
henryrawas | 4:36a4eceb1b7f | 260 | return true; |
henryrawas | 4:36a4eceb1b7f | 261 | } |
henryrawas | 4:36a4eceb1b7f | 262 | |
henryrawas | 15:4bd10f531cdc | 263 | // clear cache to force a read |
henryrawas | 15:4bd10f531cdc | 264 | void RobotArm::ArmMeasuresTestStart() |
henryrawas | 15:4bd10f531cdc | 265 | { |
henryrawas | 15:4bd10f531cdc | 266 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 15:4bd10f531cdc | 267 | { |
henryrawas | 15:4bd10f531cdc | 268 | _armParts[ix]->ClearMeasureCache(); |
henryrawas | 15:4bd10f531cdc | 269 | } |
henryrawas | 15:4bd10f531cdc | 270 | } |
henryrawas | 15:4bd10f531cdc | 271 | |
henryrawas | 15:4bd10f531cdc | 272 | // test values without clearing cache |
henryrawas | 13:ffeff9b5e513 | 273 | int RobotArm::ArmMeasuresTest(int measureId) |
henryrawas | 13:ffeff9b5e513 | 274 | { |
henryrawas | 13:ffeff9b5e513 | 275 | float curvals[NUMJOINTS]; |
henryrawas | 13:ffeff9b5e513 | 276 | |
henryrawas | 15:4bd10f531cdc | 277 | if (!GetArmLastMeasure(measureId, curvals)) |
henryrawas | 13:ffeff9b5e513 | 278 | { |
henryrawas | 13:ffeff9b5e513 | 279 | return -2; |
henryrawas | 13:ffeff9b5e513 | 280 | } |
henryrawas | 13:ffeff9b5e513 | 281 | |
henryrawas | 13:ffeff9b5e513 | 282 | int rc = 0; |
henryrawas | 13:ffeff9b5e513 | 283 | |
henryrawas | 13:ffeff9b5e513 | 284 | switch (measureId) |
henryrawas | 13:ffeff9b5e513 | 285 | { |
henryrawas | 13:ffeff9b5e513 | 286 | case NM_Temperature: |
henryrawas | 13:ffeff9b5e513 | 287 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 288 | { |
henryrawas | 13:ffeff9b5e513 | 289 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 290 | if (val > MaxTemp) |
henryrawas | 13:ffeff9b5e513 | 291 | { |
henryrawas | 13:ffeff9b5e513 | 292 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 293 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 294 | break; |
henryrawas | 13:ffeff9b5e513 | 295 | } |
henryrawas | 13:ffeff9b5e513 | 296 | } |
henryrawas | 13:ffeff9b5e513 | 297 | break; |
henryrawas | 13:ffeff9b5e513 | 298 | |
henryrawas | 13:ffeff9b5e513 | 299 | case NM_Degrees: |
henryrawas | 18:224289104fc0 | 300 | if (TestPositions) |
henryrawas | 13:ffeff9b5e513 | 301 | { |
henryrawas | 18:224289104fc0 | 302 | // positions will frequently be off while arm is moving |
henryrawas | 18:224289104fc0 | 303 | // logic checks if position is outside expected threshold for a period of time |
henryrawas | 18:224289104fc0 | 304 | // may get false positives if goal is changed frequently |
henryrawas | 18:224289104fc0 | 305 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 306 | { |
henryrawas | 18:224289104fc0 | 307 | float val = curvals[ix]; |
henryrawas | 18:224289104fc0 | 308 | if (val > 0.0f) |
henryrawas | 13:ffeff9b5e513 | 309 | { |
henryrawas | 18:224289104fc0 | 310 | float diff = fabs(val - _lastgoals[ix]); |
henryrawas | 18:224289104fc0 | 311 | if (diff > (fabs(_differentials[ix] * 2.0f) + PositionErrorAllow)) |
henryrawas | 13:ffeff9b5e513 | 312 | { |
henryrawas | 18:224289104fc0 | 313 | int elapsed = (int)_elapseTimer.read_ms(); |
henryrawas | 18:224289104fc0 | 314 | if (_failms[ix] > 0) |
henryrawas | 13:ffeff9b5e513 | 315 | { |
henryrawas | 18:224289104fc0 | 316 | if (elapsed - _failms[ix] > FailMsLimit) |
henryrawas | 18:224289104fc0 | 317 | { |
henryrawas | 18:224289104fc0 | 318 | // continuous failure for time period |
henryrawas | 18:224289104fc0 | 319 | // report failure |
henryrawas | 18:224289104fc0 | 320 | _lastPosDiff = diff; |
henryrawas | 18:224289104fc0 | 321 | _lastErrorPart = ix; |
henryrawas | 18:224289104fc0 | 322 | |
henryrawas | 18:224289104fc0 | 323 | _failms[ix] = 0; |
henryrawas | 18:224289104fc0 | 324 | rc = -1; |
henryrawas | 18:224289104fc0 | 325 | } |
henryrawas | 18:224289104fc0 | 326 | } |
henryrawas | 18:224289104fc0 | 327 | else |
henryrawas | 18:224289104fc0 | 328 | { |
henryrawas | 18:224289104fc0 | 329 | // first failure after success |
henryrawas | 18:224289104fc0 | 330 | // remember first fail time. |
henryrawas | 18:224289104fc0 | 331 | _failms[ix] = elapsed; |
henryrawas | 13:ffeff9b5e513 | 332 | } |
henryrawas | 13:ffeff9b5e513 | 333 | } |
henryrawas | 13:ffeff9b5e513 | 334 | else |
henryrawas | 13:ffeff9b5e513 | 335 | { |
henryrawas | 18:224289104fc0 | 336 | // within allowable range - clear time |
henryrawas | 18:224289104fc0 | 337 | _failms[ix] = 0; |
henryrawas | 13:ffeff9b5e513 | 338 | } |
henryrawas | 13:ffeff9b5e513 | 339 | } |
henryrawas | 13:ffeff9b5e513 | 340 | } |
henryrawas | 13:ffeff9b5e513 | 341 | } |
henryrawas | 13:ffeff9b5e513 | 342 | break; |
henryrawas | 13:ffeff9b5e513 | 343 | |
henryrawas | 13:ffeff9b5e513 | 344 | case NM_Voltage: |
henryrawas | 13:ffeff9b5e513 | 345 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 346 | { |
henryrawas | 13:ffeff9b5e513 | 347 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 348 | if (val > MaxVoltLimit || val < MinVoltLimit) |
henryrawas | 13:ffeff9b5e513 | 349 | { |
henryrawas | 13:ffeff9b5e513 | 350 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 351 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 352 | break; |
henryrawas | 13:ffeff9b5e513 | 353 | } |
henryrawas | 13:ffeff9b5e513 | 354 | } |
henryrawas | 13:ffeff9b5e513 | 355 | break; |
henryrawas | 13:ffeff9b5e513 | 356 | |
henryrawas | 13:ffeff9b5e513 | 357 | case NM_Load: |
henryrawas | 13:ffeff9b5e513 | 358 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 359 | { |
henryrawas | 13:ffeff9b5e513 | 360 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 361 | if (val > MaxLoadLimit) |
henryrawas | 13:ffeff9b5e513 | 362 | { |
henryrawas | 13:ffeff9b5e513 | 363 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 364 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 365 | break; |
henryrawas | 13:ffeff9b5e513 | 366 | } |
henryrawas | 13:ffeff9b5e513 | 367 | } |
henryrawas | 13:ffeff9b5e513 | 368 | break; |
henryrawas | 13:ffeff9b5e513 | 369 | |
henryrawas | 13:ffeff9b5e513 | 370 | |
henryrawas | 13:ffeff9b5e513 | 371 | default: |
henryrawas | 13:ffeff9b5e513 | 372 | break; |
henryrawas | 13:ffeff9b5e513 | 373 | } |
henryrawas | 13:ffeff9b5e513 | 374 | |
henryrawas | 13:ffeff9b5e513 | 375 | return rc; |
henryrawas | 13:ffeff9b5e513 | 376 | } |
henryrawas | 4:36a4eceb1b7f | 377 | |
henryrawas | 4:36a4eceb1b7f | 378 | // get all parts positions |
henryrawas | 13:ffeff9b5e513 | 379 | bool RobotArm::GetArmPositions(float outPos[]) |
henryrawas | 4:36a4eceb1b7f | 380 | { |
henryrawas | 9:a0fb6c370dbb | 381 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 382 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 383 | { |
henryrawas | 15:4bd10f531cdc | 384 | _armParts[ix]->ClearMeasureCache(); |
henryrawas | 4:36a4eceb1b7f | 385 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 13:ffeff9b5e513 | 386 | outPos[ix] = pos; |
henryrawas | 9:a0fb6c370dbb | 387 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 388 | { |
henryrawas | 9:a0fb6c370dbb | 389 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 390 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 391 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 392 | } |
henryrawas | 4:36a4eceb1b7f | 393 | } |
henryrawas | 9:a0fb6c370dbb | 394 | return ok; |
henryrawas | 4:36a4eceb1b7f | 395 | } |
henryrawas | 4:36a4eceb1b7f | 396 | |
henryrawas | 7:6723f6887d00 | 397 | // get all parts last measured positions |
henryrawas | 13:ffeff9b5e513 | 398 | bool RobotArm::GetArmLastPositions(float outPos[]) |
henryrawas | 4:36a4eceb1b7f | 399 | { |
henryrawas | 9:a0fb6c370dbb | 400 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 401 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 402 | { |
henryrawas | 15:4bd10f531cdc | 403 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 13:ffeff9b5e513 | 404 | outPos[ix] = pos; |
henryrawas | 9:a0fb6c370dbb | 405 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 406 | { |
henryrawas | 9:a0fb6c370dbb | 407 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 408 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 409 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 410 | } |
henryrawas | 4:36a4eceb1b7f | 411 | } |
henryrawas | 9:a0fb6c370dbb | 412 | return ok; |
henryrawas | 4:36a4eceb1b7f | 413 | } |
henryrawas | 4:36a4eceb1b7f | 414 | |
henryrawas | 7:6723f6887d00 | 415 | // get all parts measurements |
henryrawas | 13:ffeff9b5e513 | 416 | bool RobotArm::GetArmMeasure(int measureId, float outVals[]) |
henryrawas | 4:36a4eceb1b7f | 417 | { |
henryrawas | 9:a0fb6c370dbb | 418 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 419 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 420 | { |
henryrawas | 15:4bd10f531cdc | 421 | _armParts[ix]->ClearMeasureCache(); |
henryrawas | 8:d98e2dec0f40 | 422 | float val = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 13:ffeff9b5e513 | 423 | outVals[ix] = val; |
henryrawas | 9:a0fb6c370dbb | 424 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 425 | { |
henryrawas | 9:a0fb6c370dbb | 426 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 427 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 428 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 429 | } |
henryrawas | 4:36a4eceb1b7f | 430 | } |
henryrawas | 9:a0fb6c370dbb | 431 | return ok; |
henryrawas | 4:36a4eceb1b7f | 432 | } |
henryrawas | 4:36a4eceb1b7f | 433 | |
henryrawas | 7:6723f6887d00 | 434 | // get all parts last measurements |
henryrawas | 13:ffeff9b5e513 | 435 | bool RobotArm::GetArmLastMeasure(int measureId, float outVals[]) |
henryrawas | 4:36a4eceb1b7f | 436 | { |
henryrawas | 9:a0fb6c370dbb | 437 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 438 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 439 | { |
henryrawas | 15:4bd10f531cdc | 440 | float val = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 13:ffeff9b5e513 | 441 | outVals[ix] = val; |
henryrawas | 9:a0fb6c370dbb | 442 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 443 | { |
henryrawas | 9:a0fb6c370dbb | 444 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 445 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 446 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 447 | } |
henryrawas | 4:36a4eceb1b7f | 448 | } |
henryrawas | 9:a0fb6c370dbb | 449 | return ok; |
henryrawas | 4:36a4eceb1b7f | 450 | } |
henryrawas | 4:36a4eceb1b7f | 451 | |
henryrawas | 4:36a4eceb1b7f | 452 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 453 | { |
henryrawas | 4:36a4eceb1b7f | 454 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 455 | } |
henryrawas | 4:36a4eceb1b7f | 456 | |
henryrawas | 4:36a4eceb1b7f | 457 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 458 | { |
henryrawas | 4:36a4eceb1b7f | 459 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 460 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 461 | } |
henryrawas | 4:36a4eceb1b7f | 462 | |
henryrawas | 4:36a4eceb1b7f | 463 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 464 | { |
henryrawas | 4:36a4eceb1b7f | 465 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 466 | } |
henryrawas | 4:36a4eceb1b7f | 467 | |
henryrawas | 4:36a4eceb1b7f | 468 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 469 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 470 | { |
henryrawas | 4:36a4eceb1b7f | 471 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 472 | } |
henryrawas | 4:36a4eceb1b7f | 473 | |
henryrawas | 7:6723f6887d00 | 474 | int RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 475 | { |
henryrawas | 7:6723f6887d00 | 476 | return _lastError; |
henryrawas | 7:6723f6887d00 | 477 | } |
henryrawas | 7:6723f6887d00 | 478 | |
henryrawas | 7:6723f6887d00 | 479 | float RobotArm::GetLastPosDiff() |
henryrawas | 7:6723f6887d00 | 480 | { |
henryrawas | 7:6723f6887d00 | 481 | return _lastPosDiff; |
henryrawas | 4:36a4eceb1b7f | 482 | } |
henryrawas | 4:36a4eceb1b7f | 483 | |
henryrawas | 4:36a4eceb1b7f | 484 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 485 | { |
henryrawas | 4:36a4eceb1b7f | 486 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 487 | } |
henryrawas | 7:6723f6887d00 | 488 |