Diff: main.cpp

Revision:

2:25837cbaee98

Parent:

1:79e0d4791936

Child:

3:9ef9b4c66648

diff -r 79e0d4791936 -r 25837cbaee98 main.cpp
--- a/main.cpp	Sat Nov 18 19:42:18 2017 +0000
+++ b/main.cpp	Wed Nov 29 17:48:13 2017 +0000
@@ -15,16 +15,55 @@
 int                     counter = 0;
 volatile bool           msgAvailable = false;
 Ticker loop;
+AnalogIn     knob(PC_0);
+DigitalOut  toggle(PC_3);
+DigitalOut  toggle2(PC_2);
 
 ///[[abad1,  abad2]
 ///[hip1,   hip2]
 ///[knee1, knee2]]
+float q1raw[3];
+float q2raw[3];
+float dq1raw[3];
+float dq2raw[3];
+float q1[3];    //Leg 1 joint angles
+float dq1[3];   //Leg 1 joint velocities
+float tau1[3];  //Leg 1 joint torques
+float q2[3];    //Leg 2 joint angles
+float dq2[3];   //Leg 2 joint velocities
+float tau2[3];  //Leg 2 joint torques
+float p1[3];    //Leg 1 end effector position
+float v1[3];    //Leg 1 end effector velocity
+float J1[3][3]; //Leg 1 Jacobian
+float f1[3];    //Leg 1 end effector forces
+float p2[3];    //Leg 2 end effector position
+float v2[3];    //Leg 2 end effector velocity
+float J2[3][3]; //Leg 2 Jacobian
+float f2[3];    //Leg 2 end effector forces
+
 float q[3][2];   //Joint states for both legs
 float dq[3][2];
 float tau[3][3];
-float kp = 60;
-float kd = 0.8;
+
+float I[3] = {0.005f, 0.0045f, 0.006f}; //Joint space inertias
+float M1[3][3]; //Leg 1 end effector inverse mass
+float M2[3][3]; //Leg 2 end effector inverse mass
+float KD1[3]; //Joint space damping
+float KD2[3];
+float contact1[3];
+float contact2[3];
+
+const float offset[3] = {0.0f, 3.493f, -2.766f}; //Joint angle offsets at zero position
+
+float kp = 800.0f;
+float kd = 100.0f;
+float kp_q = 100.0f;
+float kd_q = 0.8f;
 int enabled = 0;
+float scaling = 0;
+
+
+int control_mode = 0;
 
 /// Value Limits ///
  #define P_MIN -12.5f
@@ -39,6 +78,53 @@
  #define T_MAX 18.0f
  #define I_MAX 40.0f
  
+ #define L1 0.0577f
+ #define L2 0.2088f
+ #define L3 0.175f
+ 
+ void kinematics(const float q[3], const float dq[3], float* p, float* v, float (* J)[3], float (* M)[3]){
+     const float s1 = sinf(q[0]);
+     const float s2 = sinf(q[1]);
+     const float s3 = sinf(q[2]);
+     const float c1 = cosf(q[0]);
+     const float c2 = cosf(q[1]);
+     const float c3 = cosf(q[2]);
+     
+     const float c23 = c2*c3 - s2*s3;
+     const float s23 = s2*c3 + c2*s3;
+     
+     p[0] = L3*s23 + L2*s2;
+     p[1] = L1*c1 + L3*s1*c23 + L2*c2*s1;
+     p[2] = L1*s1 - L3*c1*c23 - L2*c1*c2;
+     
+     J[0][0] = 0;
+     J[0][1] = L3*c23 + L2*c2;
+     J[0][2] = L3*c23;
+     J[1][0] = L3*c1*c23 + L2*c1*c2 - L1*s1;
+     J[1][1] = -L3*s1*s23 - L2*s1*s2;
+     J[1][2] = -L3*s1*s23;
+     J[2][0] = L3*s1*c23 + L2*c2*s1 + L1*c1;
+     J[2][1] = L3*c1*s23 + L2*c1*s2;
+     J[2][2] = L3*c1*s23;
+     
+     M[0][0] = J[0][0]*J[0][0]/I[0] + J[0][1]*J[0][1]/I[1] + J[0][2]*J[0][2]/I[2];
+     M[0][1] = 0;
+     M[0][2] = 0;
+     M[1][0] = 0;
+     M[1][1] = J[1][0]*J[1][0]/I[0] + J[1][1]*J[1][1]/I[1] + J[1][2]*J[1][2]/I[2];
+     M[1][2] = 0;
+     M[2][0] = 0;
+     M[2][1] = 0;
+     M[2][2] = J[2][0]*J[2][0]/I[0] + J[2][1]*J[2][1]/I[1] + J[2][2]*J[2][2]/I[2];
+     
+     v[0] = 0; v[1] = 0; v[2] = 0;
+     for(int i = 0; i<3; i++){
+         for(int j = 0; j<3; j++){
+             v[i] += J[i][j]*dq[j];
+             }
+            }
+     }
+ 
 /// CAN Command Packet Structure ///
 /// 16 bit position command, between -4*pi and 4*pi
 /// 12 bit velocity command, between -30 and + 30 rad/s
@@ -57,6 +143,7 @@
 /// 7: [torque[7-0]]
 
 void pack_cmd(CANMessage * msg, float p_des, float v_des, float kp, float kd, float t_ff){
+     
      /// limit data to be within bounds ///
      p_des = fminf(fmaxf(P_MIN, p_des), P_MAX);                    
      v_des = fminf(fmaxf(V_MIN, v_des), V_MAX);
@@ -102,9 +189,30 @@
     float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
     float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
     float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
+    float qraw = p;
+    float vraw = v;
+    if(id==3){  //Extra belt 28:18 belt reduction on the knees;
+        p = -p*0.643f;
+        v = -v*0.643f;
+        }
+    else if(id==1){
+        p = -p;
+        v = -v;
+        }
+    p = p+offset[id-1];
+    if(leg_num == 0){
+        q1raw[id-1] = qraw;
+        dq1raw[id-1] = vraw;
+        q1[id-1] = p;
+        dq1[id-1] = v;
+        }
+    else if(leg_num==1){
+        q2raw[id-1] = qraw;
+        dq2raw[id-1] = vraw;
+        q2[id-1] = p;
+        dq2[id-1] = v;
+        }
     
-    q[id-1][leg_num] = p;
-    dq[id-1][leg_num] = v;
     /*
     if(id == 2){
         theta1 = p;
@@ -129,6 +237,7 @@
     }
 
 void WriteAll(){
+    //toggle = 1;
     can1.write(abad1);
     wait(.0001);
     can2.write(abad2);
@@ -141,32 +250,143 @@
     wait(.0001);
     can2.write(knee2);
     wait(.0001);
+    //toggle = 0;
     }
 
 void sendCMD(){
     /// bilateral teleoperation demo ///
+    toggle2 = 1;
     counter ++;
+    scaling = .99f*scaling + .01f*knob.read();
+    
+    kinematics(q1, dq1, p1, v1, J1, M1);
+    kinematics(q2, dq2, p2, v2, J2, M2);
     
     if(enabled){
+            switch(control_mode){
+                case 0:
+                    {
+                    KD1[0] = 0;  KD1[1] = 0;  KD1[2] = 0;
+                    KD2[0] = 0;  KD2[1] = 0;  KD2[2] = 0;
+                    tau1[0] = 0; tau1[1] = 0; tau1[2] = 0;
+                    tau2[0] = 0; tau2[1] = 0; tau2[2] = 0;
+                    pack_cmd(&abad1, 0, 0, 0, 0, 0); 
+                    pack_cmd(&abad2, 0, 0, 0, 0, 0); 
+                    pack_cmd(&hip1, 0, 0, 0, 0, 0); 
+                    pack_cmd(&hip2, 0, 0, 0, 0, 0); 
+                    pack_cmd(&knee1, 0, 0, 0, 0, 0); 
+                    pack_cmd(&knee2, 0, 0, 0, 0, 0); 
+                    }
+                    break;
+                case 1:
+                {
+                    //Joint Coupling
+                    KD1[0] = 0;  KD1[1] = 0;  KD1[2] = 0;
+                    KD2[0] = 0;  KD2[1] = 0;  KD2[2] = 0;
+                    tau1[0] = -scaling*(kp_q*(q2[0] - q1[0]) + kd_q*(dq2[0] - dq1[0]));
+                    tau2[0] = -scaling*(kp_q*(q1[0] - q2[0]) + kd_q*(dq1[0] - dq2[0]));
+                    tau1[1] = scaling*(kp_q*(q2[1] - q1[1]) + kd_q*(dq2[1] - dq1[1]));
+                    tau2[1] = scaling*(kp_q*(q1[1] - q2[1]) + kd_q*(dq1[1] - dq2[1]));
+                    tau1[2] = -scaling*((kp_q/1.5f)*(q2[2] - q1[2]) + (kd_q/2.25f)*(dq2[2] - dq1[2]));
+                    tau2[2] = -scaling*((kp_q/1.5f)*(q1[2] - q2[2]) + (kd_q/2.25f)*(dq1[2] - dq2[2]));
+                    
+                    pack_cmd(&abad1, 0, 0, 0, KD1[0]+.005f, tau1[0]); 
+                    pack_cmd(&abad2, 0, 0, 0, KD2[0]+.005f, tau2[0]); 
+                    pack_cmd(&hip1, 0, 0, 0, KD1[1]+.005f, tau1[1]); 
+                    pack_cmd(&hip2, 0, 0, 0, KD2[1]+.005f, tau2[1]); 
+                    pack_cmd(&knee1, 0, 0, 0, KD1[2]+.0033f, tau1[2]); 
+                    pack_cmd(&knee2, 0, 0, 0, KD2[2]+.0033f, tau2[2]); 
+                    }
+                    break;
+                
+                case 2:
+                {
+                    //Virtual Walls
+                    const float kmax = 25000.0f;
+                    const float wn_des = 100000.0f;
+                    const float xlim = 0.0f;
+                    const float ylim = 0.2f;
+                    const float zlim = -.2f;
+                    
+                    contact1[0] = p1[0]<xlim;
+                    contact2[0] = p2[0]<xlim;
+                    contact1[1] = p1[1]>ylim;
+                    contact2[1] = p2[1]>ylim;
+                    contact1[2] = p1[2]<zlim;
+                    contact2[2] = p2[2]<zlim;
+                    
+                    float kx1 = wn_des/M1[0][0];
+                    float kx2 = wn_des/M2[0][0];
+                    kx1 = fminf(kmax, kx1);
+                    kx2 = fminf(kmax, kx2);
+                    f1[0] = scaling*(kx1*(xlim - p1[0]) + 0.0f*kd*(0 - v1[0]))*contact1[0];
+                    f2[0] = scaling*(kx2*(xlim - p2[0]) + 0.0f*kd*(0 - v2[0]))*contact2[0];
+                    
+                    float ky1 = wn_des/M1[1][1];
+                    float ky2 = wn_des/M2[1][1];
+                    ky1 = fminf(kmax, ky1);
+                    ky2 = fminf(kmax, ky2);
+                    f1[1] = scaling*(ky1*(ylim - p1[1]) + 0.0f*kd*(0 - v1[1]))*contact1[1];
+                    f2[1] = scaling*(ky2*(ylim - p2[1]) + 0.0f*kd*(0 - v2[1]))*contact2[1];
+                    
+                    float kz1 = wn_des/M1[2][2];
+                    float kz2 = wn_des/M2[2][2];
+                    kz1 = fminf(kmax, kz1);
+                    kz2 = fminf(kmax, kz2);
+                    f1[2] = scaling*(kz1*(zlim - p1[2]) + 0.0f*kd*(0 - v1[2]))*contact1[2];
+                    f2[2] = scaling*(kz2*(zlim - p2[2]) + 0.0f*kd*(0 - v2[2]))*contact2[2];
+                    //
+                    
+                    tau1[0] = -1*(f1[0]*J1[0][0] + f1[1]*J1[1][0] + f1[2]*J1[2][0]);
+                    tau2[0] = -1*(f2[0]*J2[0][0] + f2[1]*J2[1][0] + f2[2]*J2[2][0]);
+                    tau1[1] = f1[0]*J1[0][1] + f1[1]*J1[1][1] + f1[2]*J1[2][1];
+                    tau2[1] = f2[0]*J2[0][1] + f2[1]*J2[1][1] + f2[2]*J2[2][1];
+                    tau1[2] = -1*(f1[0]*J1[0][2] + f1[1]*J1[1][2] + f1[2]*J1[2][2]);
+                    tau2[2] = -1*(f2[0]*J2[0][2] + f2[1]*J2[1][2] + f2[2]*J2[2][2]);
+                    
+                    KD1[0] = 0.4f*(kd*scaling)*(contact1[0]*J1[0][0]*J1[0][0] + contact1[1]*J1[1][0]*J1[1][0] + contact1[2]*J1[2][0]*J1[2][0]);
+                    KD2[0] = 0.4f*(kd*scaling)*(contact2[0]*J2[0][0]*J2[0][0] + contact2[1]*J2[1][0]*J2[1][0] + contact2[2]*J2[2][0]*J2[2][0]);
+                    KD1[1] = 0.4f*(kd*scaling)*(contact1[0]*J1[0][1]*J1[0][1] + contact1[1]*J1[1][1]*J1[1][1] + contact1[2]*J1[2][1]*J1[2][1]);
+                    KD2[1] = 0.4f*(kd*scaling)*(contact2[0]*J2[0][1]*J2[0][1] + contact2[1]*J2[1][1]*J2[1][1] + contact2[2]*J2[2][1]*J2[2][1]);
+                    KD1[2] = 0.4f*0.44f*(kd*scaling)*(contact1[0]*J1[0][2]*J1[0][2] + contact1[1]*J1[1][2]*J1[1][2] + contact1[2]*J1[2][2]*J1[2][2]);
+                    KD2[2] = 0.4f*0.44f*(kd*scaling)*(contact2[0]*J2[0][2]*J2[0][2] + contact2[1]*J2[1][2]*J2[1][2] + contact2[2]*J2[2][2]*J2[2][2]);
+                    
+                    pack_cmd(&abad1, 0, 0, 0, KD1[0]+.005f, tau1[0]); 
+                    pack_cmd(&abad2, 0, 0, 0, KD2[0]+.005f, tau2[0]); 
+                    pack_cmd(&hip1, 0, 0, 0, KD1[1]+.005f, tau1[1]); 
+                    pack_cmd(&hip2, 0, 0, 0, KD2[1]+.005f, tau2[1]); 
+                    pack_cmd(&knee1, 0, 0, 0, KD1[2]+.0033f, tau1[2]); 
+                    pack_cmd(&knee2, 0, 0, 0, KD2[2]+.0033f, tau2[2]); 
+                    }
+                    break;
+                
+                case 3:
+                {
+                    pack_cmd(&abad1, q2raw[0], dq2raw[0], 2.0f*kp_q*scaling, 2.0f*kd_q*scaling, 0); 
+                    pack_cmd(&abad2, 0, 0, 0, 0, 0); 
+                    pack_cmd(&hip1, q2raw[1], dq2raw[1], 2.0f*kp_q*scaling, 2.0f*kd_q*scaling, 0); 
+                    pack_cmd(&hip2, 0, 0, 0, 0, 0); 
+                    pack_cmd(&knee1, q2raw[2], dq2raw[2], 2.0f*kp_q*scaling, 2.0f*kd_q*scaling, 0); 
+                    pack_cmd(&knee2, 0, 0, 0, 0, 0); 
+                    }
+                    break;
+            //
+            
+            }
+    
+
+            
+            
+            
+            
+            
+
         if(counter>100){
             //tcmd = -1*tcmd;
-            //printf("%.4f   %.4f   %.4f     %.4f   %.4f   %.4f\n\r", q[0][0], q[1][0], q[2][0], q[0][1], q[1][1], q[2][1]);
+            //printf("%.4f   %.4f  \n\r", q1[1], q2[1]);
+            //printf("%f\n\r", scaling);
             counter = 0 ;
             }
-            
-        tau[0][1] = kp*(q[0][0] - q[0][1]) + kd*(dq[0][0] - dq[0][1]);
-        tau[0][0] = kp*(q[0][1] - q[0][0]) + kd*(dq[0][1] - dq[0][0]);
-        tau[1][1] = kp*(q[1][0] - q[1][1]) + kd*(dq[1][0] - dq[1][1]);
-        tau[1][0] = kp*(q[1][1] - q[1][0]) + kd*(dq[1][1] - dq[1][0]);
-        tau[2][1] = (kp/1.5f)*(q[2][0] - q[2][1]) + (kd/2.25f)*(dq[2][0] - dq[2][1]);
-        tau[2][0] = (kp/1.5f)*(q[2][1] - q[2][0]) + (kd/2.25f)*(dq[2][1] - dq[2][0]);
-        
-        pack_cmd(&abad1, 0, 0, 0, .01, tau[0][0]); 
-        pack_cmd(&abad2, 0, 0, 0, .01, tau[0][1]); 
-        pack_cmd(&hip1, 0, 0, 0, .01, tau[1][0]); 
-        pack_cmd(&hip2, 0, 0, 0, .01, tau[1][1]); 
-        pack_cmd(&knee1, 0, 0, 0, .006, tau[2][0]); 
-        pack_cmd(&knee2, 0, 0, 0, .006, tau[2][1]); 
         /*
         pack_cmd(&abad1, q[0][1], dq[0][1], kp, kd, 0); 
         pack_cmd(&abad2, q[0][0], dq[0][0], kp, kd, 0); 
@@ -184,6 +404,7 @@
     pack_cmd(&knee1, 0, 0, 6.6, .04, 0); 
     pack_cmd(&knee2, 0, 0, 6.6, .04, 0); 
 */    
+toggle2 = 0;
     WriteAll();
     }
     
@@ -265,6 +486,18 @@
                 Zero(&knee1);
                 Zero(&knee2);
                 break;
+            case('0'):
+                control_mode = 0;
+                break;
+            case('1'):
+                control_mode = 1;
+                break;
+            case('2'):
+                control_mode = 2;
+                break;
+            case('3'):
+                control_mode = 3;
+                break;
             }
         }
         WriteAll();
@@ -273,6 +506,8 @@
     
 int can_packet[8] = {1, 2, 3, 4, 5, 6, 7, 8};
 int main() {
+    //wait(.5);
+    
     pc.baud(921600);
     pc.attach(&serial_isr);
     can1.frequency(1000000);                     // set bit rate to 1Mbps
@@ -293,7 +528,7 @@
     rxMsg1.len = 6;                          //receive 5 bytes
     rxMsg2.len = 6;                          //receive 5 bytes
 
-    
+
     abad1.id = 0x1;                        
     abad2.id = 0x1;                 
     hip1.id = 0x2;
@@ -306,9 +541,29 @@
     pack_cmd(&hip2, 0, 0, 0, 0, 0);
     pack_cmd(&knee1, 0, 0, 0, 0, 0);
     pack_cmd(&knee2, 0, 0, 0, 0, 0);
-    
+    //WriteAll();
     
+    wait(.5);
+    EnterMotorMode(&abad1);
+    EnterMotorMode(&abad2);
+    EnterMotorMode(&hip1);
+    EnterMotorMode(&hip2);
+    EnterMotorMode(&knee1);
+    EnterMotorMode(&knee2);
+    Zero(&knee2);
+    Zero(&knee1);
+    Zero(&hip1);
+    Zero(&hip2);
+    Zero(&abad2);
+    Zero(&abad1);
+
+
+
+    wait(.5);
+    enabled = 1;
+    loop.attach(&sendCMD, .001);
     while(1) {
+        
 
         }