demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@13:ffeff9b5e513, 2016-01-15 (annotated)
- Committer:
- henryrawas
- Date:
- Fri Jan 15 22:02:46 2016 +0000
- Revision:
- 13:ffeff9b5e513
- Parent:
- 12:ac6c9d7f8c40
- Child:
- 15:4bd10f531cdc
Always test status and send data
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 <DynamixelBus.h> |
henryrawas | 12:ac6c9d7f8c40 | 5 | #include <NodeAX12.h> |
henryrawas | 13:ffeff9b5e513 | 6 | //#include <NodeEmul.h> |
henryrawas | 4:36a4eceb1b7f | 7 | #include <Terminal.h> |
henryrawas | 4:36a4eceb1b7f | 8 | #include <vector> |
henryrawas | 4:36a4eceb1b7f | 9 | #include <RobotArm.h> |
henryrawas | 4:36a4eceb1b7f | 10 | |
henryrawas | 4:36a4eceb1b7f | 11 | using namespace std; |
henryrawas | 4:36a4eceb1b7f | 12 | |
henryrawas | 11:3a2e6eb9fbb8 | 13 | DynamixelBus dynbus( PTC17, PTC16, D7, D6, 500000 ); |
henryrawas | 4:36a4eceb1b7f | 14 | |
henryrawas | 4:36a4eceb1b7f | 15 | |
henryrawas | 4:36a4eceb1b7f | 16 | // set the id for each part in the chain, in order |
henryrawas | 5:36916b1c5a06 | 17 | int PartIds[] = { 2, 3, 4, 6, 1 }; |
henryrawas | 4:36a4eceb1b7f | 18 | |
henryrawas | 13:ffeff9b5e513 | 19 | // default to move every 25 ms |
henryrawas | 13:ffeff9b5e513 | 20 | #define StepPeriodMs 25 |
henryrawas | 13:ffeff9b5e513 | 21 | |
henryrawas | 13:ffeff9b5e513 | 22 | // Thresholds |
henryrawas | 13:ffeff9b5e513 | 23 | // allow 3 degrees plus requested move diff for position error |
henryrawas | 13:ffeff9b5e513 | 24 | #define PositionErrorAllow 3.0f |
henryrawas | 13:ffeff9b5e513 | 25 | // time for continuous position error |
henryrawas | 13:ffeff9b5e513 | 26 | #define FailMsLimit 250 |
henryrawas | 13:ffeff9b5e513 | 27 | // load level allowance |
henryrawas | 13:ffeff9b5e513 | 28 | #define MaxLoadLimit 950.0f |
henryrawas | 13:ffeff9b5e513 | 29 | // Temperature limit |
henryrawas | 13:ffeff9b5e513 | 30 | #define MaxTemp 69 |
henryrawas | 13:ffeff9b5e513 | 31 | // Voltage limits |
henryrawas | 13:ffeff9b5e513 | 32 | #define MaxVoltLimit 13 |
henryrawas | 13:ffeff9b5e513 | 33 | #define MinVoltLimit 10 |
henryrawas | 13:ffeff9b5e513 | 34 | |
henryrawas | 7:6723f6887d00 | 35 | |
henryrawas | 4:36a4eceb1b7f | 36 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 37 | { |
henryrawas | 4:36a4eceb1b7f | 38 | // build arm |
henryrawas | 13:ffeff9b5e513 | 39 | for (int ix = 0; ix < NUMJOINTS; ix++) |
henryrawas | 10:9b21566a5ddb | 40 | { |
henryrawas | 13:ffeff9b5e513 | 41 | NodeAX12* servo = new NodeAX12(&dynbus, PartIds[ix]); |
henryrawas | 13:ffeff9b5e513 | 42 | //NodeEmul* servo = new NodeEmul(PartIds[i]); |
henryrawas | 12:ac6c9d7f8c40 | 43 | servo->DoAction(NA_Init, 0.0f); |
henryrawas | 13:ffeff9b5e513 | 44 | _armParts[ix] = dynamic_cast<RobotNode*>(servo); |
henryrawas | 10:9b21566a5ddb | 45 | } |
henryrawas | 13:ffeff9b5e513 | 46 | _numParts = NUMJOINTS; |
henryrawas | 4:36a4eceb1b7f | 47 | |
henryrawas | 4:36a4eceb1b7f | 48 | numsteps = 0; |
henryrawas | 13:ffeff9b5e513 | 49 | _stepms = StepPeriodMs; |
henryrawas | 4:36a4eceb1b7f | 50 | } |
henryrawas | 4:36a4eceb1b7f | 51 | |
henryrawas | 13:ffeff9b5e513 | 52 | |
henryrawas | 11:3a2e6eb9fbb8 | 53 | void RobotArm::ClearErrorState() |
henryrawas | 11:3a2e6eb9fbb8 | 54 | { |
henryrawas | 13:ffeff9b5e513 | 55 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 11:3a2e6eb9fbb8 | 56 | { |
henryrawas | 13:ffeff9b5e513 | 57 | _armParts[ix]->DoAction(NA_ClearError, 0.0f); |
henryrawas | 13:ffeff9b5e513 | 58 | failms[ix] = 0; |
henryrawas | 11:3a2e6eb9fbb8 | 59 | } |
henryrawas | 11:3a2e6eb9fbb8 | 60 | } |
henryrawas | 4:36a4eceb1b7f | 61 | |
henryrawas | 4:36a4eceb1b7f | 62 | // move all parts to specified postions in ms time |
henryrawas | 13:ffeff9b5e513 | 63 | bool RobotArm::MoveArmPositionsStart(float positions[], int totms) |
henryrawas | 4:36a4eceb1b7f | 64 | { |
henryrawas | 4:36a4eceb1b7f | 65 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 66 | |
henryrawas | 4:36a4eceb1b7f | 67 | MoveArmPositionsEnd(); |
henryrawas | 13:ffeff9b5e513 | 68 | |
henryrawas | 5:36916b1c5a06 | 69 | GetArmPositions(lastpos); |
henryrawas | 8:d98e2dec0f40 | 70 | |
henryrawas | 7:6723f6887d00 | 71 | numsteps = totms / _stepms; |
henryrawas | 7:6723f6887d00 | 72 | if (numsteps == 0) numsteps = 1; |
henryrawas | 7:6723f6887d00 | 73 | |
henryrawas | 8:d98e2dec0f40 | 74 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 75 | { |
henryrawas | 7:6723f6887d00 | 76 | if (positions[ix] > 0.0f) |
henryrawas | 7:6723f6887d00 | 77 | { |
henryrawas | 13:ffeff9b5e513 | 78 | endgoals[ix] = positions[ix]; |
henryrawas | 7:6723f6887d00 | 79 | float difference = (positions[ix] - lastpos[ix]) / (float)numsteps; |
henryrawas | 13:ffeff9b5e513 | 80 | differentials[ix] = difference; |
henryrawas | 7:6723f6887d00 | 81 | } |
henryrawas | 7:6723f6887d00 | 82 | else |
henryrawas | 7:6723f6887d00 | 83 | { |
henryrawas | 7:6723f6887d00 | 84 | // negative goal. Treat as don't move |
henryrawas | 13:ffeff9b5e513 | 85 | differentials[ix] = 0.0f; |
henryrawas | 7:6723f6887d00 | 86 | } |
henryrawas | 13:ffeff9b5e513 | 87 | failms[ix] = 0; |
henryrawas | 4:36a4eceb1b7f | 88 | } |
henryrawas | 4:36a4eceb1b7f | 89 | |
henryrawas | 4:36a4eceb1b7f | 90 | curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 91 | |
henryrawas | 4:36a4eceb1b7f | 92 | delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 93 | |
henryrawas | 4:36a4eceb1b7f | 94 | elapseTimer.start(); |
henryrawas | 5:36916b1c5a06 | 95 | expDelay = (int)elapseTimer.read_ms() + delayms; |
henryrawas | 13:ffeff9b5e513 | 96 | |
henryrawas | 13:ffeff9b5e513 | 97 | return true; |
henryrawas | 13:ffeff9b5e513 | 98 | } |
henryrawas | 13:ffeff9b5e513 | 99 | |
henryrawas | 13:ffeff9b5e513 | 100 | // continue interrupted action |
henryrawas | 13:ffeff9b5e513 | 101 | bool RobotArm::MoveArmPositionsResume() |
henryrawas | 13:ffeff9b5e513 | 102 | { |
henryrawas | 13:ffeff9b5e513 | 103 | if (curstep > numsteps) |
henryrawas | 13:ffeff9b5e513 | 104 | { |
henryrawas | 13:ffeff9b5e513 | 105 | // no more steps |
henryrawas | 13:ffeff9b5e513 | 106 | MoveArmPositionsEnd(); |
henryrawas | 13:ffeff9b5e513 | 107 | return true; |
henryrawas | 13:ffeff9b5e513 | 108 | } |
henryrawas | 13:ffeff9b5e513 | 109 | GetArmPositions(lastpos); |
henryrawas | 13:ffeff9b5e513 | 110 | |
henryrawas | 13:ffeff9b5e513 | 111 | // reset numsteps to be what was remaining |
henryrawas | 13:ffeff9b5e513 | 112 | numsteps = numsteps - curstep + 1; |
henryrawas | 13:ffeff9b5e513 | 113 | |
henryrawas | 13:ffeff9b5e513 | 114 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 115 | { |
henryrawas | 13:ffeff9b5e513 | 116 | if (endgoals[ix] > 0.0f) |
henryrawas | 13:ffeff9b5e513 | 117 | { |
henryrawas | 13:ffeff9b5e513 | 118 | float difference = (endgoals[ix] - lastpos[ix]) / (float)numsteps; |
henryrawas | 13:ffeff9b5e513 | 119 | differentials[ix] = difference; |
henryrawas | 13:ffeff9b5e513 | 120 | } |
henryrawas | 13:ffeff9b5e513 | 121 | else |
henryrawas | 13:ffeff9b5e513 | 122 | { |
henryrawas | 13:ffeff9b5e513 | 123 | // negative goal. Treat as don't move |
henryrawas | 13:ffeff9b5e513 | 124 | differentials[ix] = 0.0f; |
henryrawas | 13:ffeff9b5e513 | 125 | } |
henryrawas | 13:ffeff9b5e513 | 126 | failms[ix] = 0; |
henryrawas | 13:ffeff9b5e513 | 127 | } |
henryrawas | 13:ffeff9b5e513 | 128 | |
henryrawas | 13:ffeff9b5e513 | 129 | curstep = 1; |
henryrawas | 13:ffeff9b5e513 | 130 | |
henryrawas | 13:ffeff9b5e513 | 131 | delayms = _stepms; |
henryrawas | 13:ffeff9b5e513 | 132 | |
henryrawas | 13:ffeff9b5e513 | 133 | elapseTimer.start(); |
henryrawas | 13:ffeff9b5e513 | 134 | expDelay = (int)elapseTimer.read_ms() + delayms; |
henryrawas | 4:36a4eceb1b7f | 135 | |
henryrawas | 4:36a4eceb1b7f | 136 | return true; |
henryrawas | 4:36a4eceb1b7f | 137 | } |
henryrawas | 4:36a4eceb1b7f | 138 | |
henryrawas | 4:36a4eceb1b7f | 139 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 140 | { |
henryrawas | 4:36a4eceb1b7f | 141 | return (curstep <= numsteps); |
henryrawas | 4:36a4eceb1b7f | 142 | } |
henryrawas | 4:36a4eceb1b7f | 143 | |
henryrawas | 7:6723f6887d00 | 144 | bool RobotArm::MoveArmPositionsNext() |
henryrawas | 4:36a4eceb1b7f | 145 | { |
henryrawas | 4:36a4eceb1b7f | 146 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 147 | |
henryrawas | 4:36a4eceb1b7f | 148 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 149 | { |
henryrawas | 4:36a4eceb1b7f | 150 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 151 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 152 | return true; |
henryrawas | 4:36a4eceb1b7f | 153 | } |
henryrawas | 4:36a4eceb1b7f | 154 | |
henryrawas | 4:36a4eceb1b7f | 155 | bool ok = true; |
henryrawas | 7:6723f6887d00 | 156 | |
henryrawas | 8:d98e2dec0f40 | 157 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 158 | { |
henryrawas | 4:36a4eceb1b7f | 159 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 160 | { |
henryrawas | 13:ffeff9b5e513 | 161 | float goal = (curstep == numsteps || differentials[ix] == 0.0f) ? |
henryrawas | 8:d98e2dec0f40 | 162 | endgoals[ix] : // last step - use actual goal |
henryrawas | 8:d98e2dec0f40 | 163 | (lastpos[ix] + (differentials[ix] * (float)curstep)); |
henryrawas | 13:ffeff9b5e513 | 164 | lastgoals[ix] = goal; |
henryrawas | 7:6723f6887d00 | 165 | if (differentials[ix] != 0.0f) |
henryrawas | 4:36a4eceb1b7f | 166 | { |
henryrawas | 7:6723f6887d00 | 167 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 7:6723f6887d00 | 168 | if (!ok) |
henryrawas | 7:6723f6887d00 | 169 | { |
henryrawas | 7:6723f6887d00 | 170 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 171 | _lastError = _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 7:6723f6887d00 | 172 | _lastPosDiff = 0; |
henryrawas | 7:6723f6887d00 | 173 | break; |
henryrawas | 7:6723f6887d00 | 174 | } |
henryrawas | 4:36a4eceb1b7f | 175 | } |
henryrawas | 4:36a4eceb1b7f | 176 | } |
henryrawas | 4:36a4eceb1b7f | 177 | } |
henryrawas | 4:36a4eceb1b7f | 178 | |
henryrawas | 4:36a4eceb1b7f | 179 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 180 | { |
henryrawas | 4:36a4eceb1b7f | 181 | return false; |
henryrawas | 4:36a4eceb1b7f | 182 | } |
henryrawas | 4:36a4eceb1b7f | 183 | |
henryrawas | 4:36a4eceb1b7f | 184 | curstep++; |
henryrawas | 4:36a4eceb1b7f | 185 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 186 | { |
henryrawas | 4:36a4eceb1b7f | 187 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 188 | } |
henryrawas | 7:6723f6887d00 | 189 | |
henryrawas | 7:6723f6887d00 | 190 | return true; |
henryrawas | 7:6723f6887d00 | 191 | } |
henryrawas | 7:6723f6887d00 | 192 | |
henryrawas | 7:6723f6887d00 | 193 | // calculate actual delay until expDelay |
henryrawas | 7:6723f6887d00 | 194 | bool RobotArm::MoveArmPositionsDelay(int& nextdelay) |
henryrawas | 7:6723f6887d00 | 195 | { |
henryrawas | 7:6723f6887d00 | 196 | if (curstep <= numsteps) |
henryrawas | 7:6723f6887d00 | 197 | { |
henryrawas | 4:36a4eceb1b7f | 198 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 199 | |
henryrawas | 7:6723f6887d00 | 200 | if (elapsed <= expDelay) |
henryrawas | 4:36a4eceb1b7f | 201 | { |
henryrawas | 5:36916b1c5a06 | 202 | if (expDelay - elapsed < delayms) |
henryrawas | 5:36916b1c5a06 | 203 | nextdelay = expDelay - elapsed; |
henryrawas | 4:36a4eceb1b7f | 204 | else |
henryrawas | 4:36a4eceb1b7f | 205 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 206 | // set next expected time by adding step delay |
henryrawas | 7:6723f6887d00 | 207 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 208 | } |
henryrawas | 4:36a4eceb1b7f | 209 | else |
henryrawas | 4:36a4eceb1b7f | 210 | { |
henryrawas | 7:6723f6887d00 | 211 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 212 | // set next expected time to now plus step delay |
henryrawas | 7:6723f6887d00 | 213 | expDelay = elapsed + delayms; |
henryrawas | 4:36a4eceb1b7f | 214 | } |
henryrawas | 7:6723f6887d00 | 215 | } |
henryrawas | 7:6723f6887d00 | 216 | else |
henryrawas | 7:6723f6887d00 | 217 | { |
henryrawas | 8:d98e2dec0f40 | 218 | nextdelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 219 | } |
henryrawas | 4:36a4eceb1b7f | 220 | |
henryrawas | 4:36a4eceb1b7f | 221 | return true; |
henryrawas | 4:36a4eceb1b7f | 222 | } |
henryrawas | 4:36a4eceb1b7f | 223 | |
henryrawas | 13:ffeff9b5e513 | 224 | // set goal to current position |
henryrawas | 13:ffeff9b5e513 | 225 | // prevents jump when obstruction is removed |
henryrawas | 13:ffeff9b5e513 | 226 | void RobotArm::MoveArmPositionsStop() |
henryrawas | 5:36916b1c5a06 | 227 | { |
henryrawas | 13:ffeff9b5e513 | 228 | float curpos[NUMJOINTS]; |
henryrawas | 5:36916b1c5a06 | 229 | GetArmPositions(curpos); |
henryrawas | 13:ffeff9b5e513 | 230 | |
henryrawas | 8:d98e2dec0f40 | 231 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 5:36916b1c5a06 | 232 | { |
henryrawas | 13:ffeff9b5e513 | 233 | (void)_armParts[ix]->DoAction(NA_Rotate, curpos[ix]); |
henryrawas | 13:ffeff9b5e513 | 234 | } |
henryrawas | 13:ffeff9b5e513 | 235 | } |
henryrawas | 7:6723f6887d00 | 236 | |
henryrawas | 4:36a4eceb1b7f | 237 | bool RobotArm::MoveArmPositionsEnd() |
henryrawas | 4:36a4eceb1b7f | 238 | { |
henryrawas | 4:36a4eceb1b7f | 239 | if (numsteps > 0) |
henryrawas | 4:36a4eceb1b7f | 240 | { |
henryrawas | 4:36a4eceb1b7f | 241 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 242 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 243 | } |
henryrawas | 4:36a4eceb1b7f | 244 | return true; |
henryrawas | 4:36a4eceb1b7f | 245 | } |
henryrawas | 4:36a4eceb1b7f | 246 | |
henryrawas | 13:ffeff9b5e513 | 247 | extern Timer IdleTimer; |
henryrawas | 13:ffeff9b5e513 | 248 | int RobotArm::ArmMeasuresTest(int measureId) |
henryrawas | 13:ffeff9b5e513 | 249 | { |
henryrawas | 13:ffeff9b5e513 | 250 | float curvals[NUMJOINTS]; |
henryrawas | 13:ffeff9b5e513 | 251 | |
henryrawas | 13:ffeff9b5e513 | 252 | if (!GetArmMeasure(measureId, curvals)) |
henryrawas | 13:ffeff9b5e513 | 253 | { |
henryrawas | 13:ffeff9b5e513 | 254 | return -2; |
henryrawas | 13:ffeff9b5e513 | 255 | } |
henryrawas | 13:ffeff9b5e513 | 256 | |
henryrawas | 13:ffeff9b5e513 | 257 | int rc = 0; |
henryrawas | 13:ffeff9b5e513 | 258 | |
henryrawas | 13:ffeff9b5e513 | 259 | switch (measureId) |
henryrawas | 13:ffeff9b5e513 | 260 | { |
henryrawas | 13:ffeff9b5e513 | 261 | case NM_Temperature: |
henryrawas | 13:ffeff9b5e513 | 262 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 263 | { |
henryrawas | 13:ffeff9b5e513 | 264 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 265 | if (val > MaxTemp) |
henryrawas | 13:ffeff9b5e513 | 266 | { |
henryrawas | 13:ffeff9b5e513 | 267 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 268 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 269 | break; |
henryrawas | 13:ffeff9b5e513 | 270 | } |
henryrawas | 13:ffeff9b5e513 | 271 | } |
henryrawas | 13:ffeff9b5e513 | 272 | break; |
henryrawas | 13:ffeff9b5e513 | 273 | |
henryrawas | 13:ffeff9b5e513 | 274 | case NM_Degrees: |
henryrawas | 13:ffeff9b5e513 | 275 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 276 | { |
henryrawas | 13:ffeff9b5e513 | 277 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 278 | if (val > 0.0f) |
henryrawas | 13:ffeff9b5e513 | 279 | { |
henryrawas | 13:ffeff9b5e513 | 280 | float diff = fabs(val - lastgoals[ix]); |
henryrawas | 13:ffeff9b5e513 | 281 | if (diff > (fabs(differentials[ix] * 2.0f) + PositionErrorAllow)) |
henryrawas | 13:ffeff9b5e513 | 282 | { |
henryrawas | 13:ffeff9b5e513 | 283 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 13:ffeff9b5e513 | 284 | if (failms[ix] > 0) |
henryrawas | 13:ffeff9b5e513 | 285 | { |
henryrawas | 13:ffeff9b5e513 | 286 | if (elapsed - failms[ix] > FailMsLimit) |
henryrawas | 13:ffeff9b5e513 | 287 | { |
henryrawas | 13:ffeff9b5e513 | 288 | // continuous failure for time period |
henryrawas | 13:ffeff9b5e513 | 289 | // report failure |
henryrawas | 13:ffeff9b5e513 | 290 | _lastPosDiff = diff; |
henryrawas | 13:ffeff9b5e513 | 291 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 292 | |
henryrawas | 13:ffeff9b5e513 | 293 | failms[ix] = 0; |
henryrawas | 13:ffeff9b5e513 | 294 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 295 | } |
henryrawas | 13:ffeff9b5e513 | 296 | } |
henryrawas | 13:ffeff9b5e513 | 297 | else |
henryrawas | 13:ffeff9b5e513 | 298 | { |
henryrawas | 13:ffeff9b5e513 | 299 | // first failure after success |
henryrawas | 13:ffeff9b5e513 | 300 | // remember first fail time. |
henryrawas | 13:ffeff9b5e513 | 301 | failms[ix] = elapsed; |
henryrawas | 13:ffeff9b5e513 | 302 | } |
henryrawas | 13:ffeff9b5e513 | 303 | } |
henryrawas | 13:ffeff9b5e513 | 304 | else |
henryrawas | 13:ffeff9b5e513 | 305 | { |
henryrawas | 13:ffeff9b5e513 | 306 | // within allowable range - clear time |
henryrawas | 13:ffeff9b5e513 | 307 | failms[ix] = 0; |
henryrawas | 13:ffeff9b5e513 | 308 | } |
henryrawas | 13:ffeff9b5e513 | 309 | } |
henryrawas | 13:ffeff9b5e513 | 310 | } |
henryrawas | 13:ffeff9b5e513 | 311 | break; |
henryrawas | 13:ffeff9b5e513 | 312 | |
henryrawas | 13:ffeff9b5e513 | 313 | case NM_Voltage: |
henryrawas | 13:ffeff9b5e513 | 314 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 315 | { |
henryrawas | 13:ffeff9b5e513 | 316 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 317 | if (val > MaxVoltLimit || val < MinVoltLimit) |
henryrawas | 13:ffeff9b5e513 | 318 | { |
henryrawas | 13:ffeff9b5e513 | 319 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 320 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 321 | break; |
henryrawas | 13:ffeff9b5e513 | 322 | } |
henryrawas | 13:ffeff9b5e513 | 323 | } |
henryrawas | 13:ffeff9b5e513 | 324 | break; |
henryrawas | 13:ffeff9b5e513 | 325 | |
henryrawas | 13:ffeff9b5e513 | 326 | case NM_Load: |
henryrawas | 13:ffeff9b5e513 | 327 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 13:ffeff9b5e513 | 328 | { |
henryrawas | 13:ffeff9b5e513 | 329 | float val = curvals[ix]; |
henryrawas | 13:ffeff9b5e513 | 330 | if (val > MaxLoadLimit) |
henryrawas | 13:ffeff9b5e513 | 331 | { |
henryrawas | 13:ffeff9b5e513 | 332 | _lastErrorPart = ix; |
henryrawas | 13:ffeff9b5e513 | 333 | rc = -1; |
henryrawas | 13:ffeff9b5e513 | 334 | break; |
henryrawas | 13:ffeff9b5e513 | 335 | } |
henryrawas | 13:ffeff9b5e513 | 336 | } |
henryrawas | 13:ffeff9b5e513 | 337 | break; |
henryrawas | 13:ffeff9b5e513 | 338 | |
henryrawas | 13:ffeff9b5e513 | 339 | |
henryrawas | 13:ffeff9b5e513 | 340 | default: |
henryrawas | 13:ffeff9b5e513 | 341 | break; |
henryrawas | 13:ffeff9b5e513 | 342 | } |
henryrawas | 13:ffeff9b5e513 | 343 | |
henryrawas | 13:ffeff9b5e513 | 344 | return rc; |
henryrawas | 13:ffeff9b5e513 | 345 | } |
henryrawas | 4:36a4eceb1b7f | 346 | |
henryrawas | 4:36a4eceb1b7f | 347 | // get all parts positions |
henryrawas | 13:ffeff9b5e513 | 348 | bool RobotArm::GetArmPositions(float outPos[]) |
henryrawas | 4:36a4eceb1b7f | 349 | { |
henryrawas | 9:a0fb6c370dbb | 350 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 351 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 352 | { |
henryrawas | 4:36a4eceb1b7f | 353 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 13:ffeff9b5e513 | 354 | outPos[ix] = pos; |
henryrawas | 9:a0fb6c370dbb | 355 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 356 | { |
henryrawas | 9:a0fb6c370dbb | 357 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 358 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 359 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 360 | } |
henryrawas | 4:36a4eceb1b7f | 361 | } |
henryrawas | 9:a0fb6c370dbb | 362 | return ok; |
henryrawas | 4:36a4eceb1b7f | 363 | } |
henryrawas | 4:36a4eceb1b7f | 364 | |
henryrawas | 7:6723f6887d00 | 365 | // get all parts last measured positions |
henryrawas | 13:ffeff9b5e513 | 366 | bool RobotArm::GetArmLastPositions(float outPos[]) |
henryrawas | 4:36a4eceb1b7f | 367 | { |
henryrawas | 9:a0fb6c370dbb | 368 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 369 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 370 | { |
henryrawas | 4:36a4eceb1b7f | 371 | float pos = _armParts[ix]->GetLastMeasure(NM_Degrees); |
henryrawas | 13:ffeff9b5e513 | 372 | outPos[ix] = pos; |
henryrawas | 9:a0fb6c370dbb | 373 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 374 | { |
henryrawas | 9:a0fb6c370dbb | 375 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 376 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 377 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 378 | } |
henryrawas | 4:36a4eceb1b7f | 379 | } |
henryrawas | 9:a0fb6c370dbb | 380 | return ok; |
henryrawas | 4:36a4eceb1b7f | 381 | } |
henryrawas | 4:36a4eceb1b7f | 382 | |
henryrawas | 7:6723f6887d00 | 383 | // get all parts measurements |
henryrawas | 13:ffeff9b5e513 | 384 | bool RobotArm::GetArmMeasure(int measureId, float outVals[]) |
henryrawas | 4:36a4eceb1b7f | 385 | { |
henryrawas | 9:a0fb6c370dbb | 386 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 387 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 388 | { |
henryrawas | 8:d98e2dec0f40 | 389 | float val = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 13:ffeff9b5e513 | 390 | outVals[ix] = val; |
henryrawas | 9:a0fb6c370dbb | 391 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 392 | { |
henryrawas | 9:a0fb6c370dbb | 393 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 394 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 395 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 396 | } |
henryrawas | 4:36a4eceb1b7f | 397 | } |
henryrawas | 9:a0fb6c370dbb | 398 | return ok; |
henryrawas | 4:36a4eceb1b7f | 399 | } |
henryrawas | 4:36a4eceb1b7f | 400 | |
henryrawas | 7:6723f6887d00 | 401 | // get all parts last measurements |
henryrawas | 13:ffeff9b5e513 | 402 | bool RobotArm::GetArmLastMeasure(int measureId, float outVals[]) |
henryrawas | 4:36a4eceb1b7f | 403 | { |
henryrawas | 9:a0fb6c370dbb | 404 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 405 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 406 | { |
henryrawas | 8:d98e2dec0f40 | 407 | float val = _armParts[ix]->GetLastMeasure(measureId); |
henryrawas | 13:ffeff9b5e513 | 408 | outVals[ix] = val; |
henryrawas | 9:a0fb6c370dbb | 409 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 410 | { |
henryrawas | 9:a0fb6c370dbb | 411 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 412 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 413 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 414 | } |
henryrawas | 4:36a4eceb1b7f | 415 | } |
henryrawas | 9:a0fb6c370dbb | 416 | return ok; |
henryrawas | 4:36a4eceb1b7f | 417 | } |
henryrawas | 4:36a4eceb1b7f | 418 | |
henryrawas | 4:36a4eceb1b7f | 419 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 420 | { |
henryrawas | 4:36a4eceb1b7f | 421 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 422 | } |
henryrawas | 4:36a4eceb1b7f | 423 | |
henryrawas | 4:36a4eceb1b7f | 424 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 425 | { |
henryrawas | 4:36a4eceb1b7f | 426 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 427 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 428 | } |
henryrawas | 4:36a4eceb1b7f | 429 | |
henryrawas | 4:36a4eceb1b7f | 430 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 431 | { |
henryrawas | 4:36a4eceb1b7f | 432 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 433 | } |
henryrawas | 4:36a4eceb1b7f | 434 | |
henryrawas | 4:36a4eceb1b7f | 435 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 436 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 437 | { |
henryrawas | 4:36a4eceb1b7f | 438 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 439 | } |
henryrawas | 4:36a4eceb1b7f | 440 | |
henryrawas | 7:6723f6887d00 | 441 | int RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 442 | { |
henryrawas | 7:6723f6887d00 | 443 | return _lastError; |
henryrawas | 7:6723f6887d00 | 444 | } |
henryrawas | 7:6723f6887d00 | 445 | |
henryrawas | 7:6723f6887d00 | 446 | float RobotArm::GetLastPosDiff() |
henryrawas | 7:6723f6887d00 | 447 | { |
henryrawas | 7:6723f6887d00 | 448 | return _lastPosDiff; |
henryrawas | 4:36a4eceb1b7f | 449 | } |
henryrawas | 4:36a4eceb1b7f | 450 | |
henryrawas | 4:36a4eceb1b7f | 451 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 452 | { |
henryrawas | 4:36a4eceb1b7f | 453 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 454 | } |
henryrawas | 7:6723f6887d00 | 455 |