Oscar Liao
RH_leg_controller
Revision 0:6626810b2241, committed 2018-12-13
- Comitter:
- OscarLiao
- Date:
- Thu Dec 13 14:21:31 2018 +0000
- Commit message:
- RH_leg_controller
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 13 14:21:31 2018 +0000
@@ -0,0 +1,636 @@
+/*
+This is a program for localized controller of one leg
+Endpoint space Impedence Control and Force/Torque feedforward
+Two input was acceptable
+q_0_E[3] Neutral point for Impedence reference
+T_0[3] Feedforward of Force/Torque
+
+---------o------↺ q_act_est[0]
+ /|
+ L1 / | ⤸ q_act_est[1]
+ o |
+ L2 ／/
+ ／ / ⤸ q_act_est[2]
+o /
+MCU target: F303K8
+ADC config: 3.3 Vadc common source
+*/
+//**************** Wiring Map ********************//
+// |---------------| | |---------------|
+// Srl| PA_9 | D1 |Cmd Serail | | VIN | VIN |
+// Srl| PA_10 | D0 |Cmd Serial | | GND | GND |
+// | NRST | NRST | | | NRST | NRST |
+// | GND | GND | | | 5V | 5V |
+// | PA_12 | D2 | |Srl| A7 | PA_2 |PC Serial
+// PWM| PB_0 | D3 |Shing Drv |Dou| A6 | PA_7 |CSG
+// Dou| PB_7 | D4 |Task1 |Din| A5 | PA_6 |CS2 Stretch Cmd
+// Dou| PB_6 | D5 |Task2 |Din| A4 | PA_5 |CS1 Serial Sync
+// PWM| PB_1 | D6 |Tigh Drv |Ain| A3 | PA_4 |Shing sense
+// | PF_0 | D7 | |Ain| A2 | PA_3 |Tigh sense
+// | PF_1 | D8 | |Ain| A1 | PA_1 |Hip sense
+// PWM| PA_8 | D9 |Hip Drv | | A0 | PA_0 |
+// | PA_11 | D10 | | | AREF | AREF |VR source
+// | PB_5 | D11 | | | 3V3 | 3V3 |
+// | PB_4 | D12 | |Dou| D13 | PB_3 |led / Serial error
+// |---------------| | |---------------|
+#include "mbed.h"
+//#include "LSM9DS0_SH.h"
+//#define DEBUG 1
+#define DEBUG 0
+#define pi 3.141592f
+#define d2r 0.01745329f
+
+#define Rms 5000 //TT rate
+#define dt 0.015f
+#define Task_1_NN 2
+#define Task_2_NN 199
+
+//Torque-Controller gain
+#define G1_rad_dc 0.00157f
+#define Kqff 636.7f //ffoward gain of q_act_est = 1 / G1_rad_dc
+#define KTff 60.408f //ffoward gain of T_ref_WD = 1 / (K_q * G1_rad_dc)
+#define Kpt 22.9f
+#define Ki 151.9f
+
+//ADC reference constant
+#define Kadc 5.817f //adc value to q_spring
+#define K_spring 13180f //sping constant of single spring
+#define K_q 10.544f //2*K_spring*R^2
+#define R 0.02f //wheely's radius
+
+//Endpoint Impedence Contorller coefficcient
+#define Kpi_Hip 0
+#define Kpi_Thigh 2000
+#define Kpi_Shin 8
+#define Kd_Hip 0.0
+#define Kd_Thigh 0.0
+#define Kd_Shin 0.0
+#define KN 20
+#define L1 0.120f //Tigh length
+#define L2 0.1480f //Shing lenth
+#define LA (L1*L1+L2*L2) //L1^2 + L2^2
+#define LB (L1*L2) //L1*L2
+#define LC (L1/L2) //L1/L2
+#define L0 0.2f //Length of the leg
+
+//Structure
+#define PWM_Hip 1650 //900~1550~2200 2050
+#define PWM_Thigh 1860 //900~1550~2200 1300
+#define PWM_Shin 1680 //900~1550~2200 1450 1740
+
+#define Buff_size 16 //Serial Buffer
+
+#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡GPIO registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+//╔═════════════════╗
+//║ Structure ║
+//╚═════════════════╝
+DigitalOut led(D13); //detection
+DigitalOut led2(D12); //detection
+DigitalOut Task_1(D4); //Task indicate
+DigitalOut Task_2(D5);
+DigitalOut CSG(A6); //Stretch interrupt pull down
+
+AnalogIn adc1(A1); //adc
+AnalogIn adc2(A2); //adc
+AnalogIn adc3(A3); //adc
+
+InterruptIn CS1(D2); //Serial synchronizor
+DigitalIn CS2(A5); //Stretch interrupt
+
+
+//╔═════════════════╗
+//║ Servo out ║
+//╚═════════════════╝
+PwmOut Drive1(D9); //PWM 1/1
+PwmOut Drive2(D6); //PWM 1/2N
+PwmOut Drive3(D3); //PWM 1/3N
+
+//╔═════════════════╗
+//║ Serial ║
+//╚═════════════════╝
+Serial Debug(PA_2, PA_15); //Serial reg(TX RX) USB port
+Serial Cmd(D1, D0); //Serial reg(TX RX)
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of GPIO registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Varible registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+//╔═════════════════╗
+//║ Structure ║
+//╚═════════════════╝
+Ticker TT; //call a timer
+uint8_t Task_1_count = 0; //1st prior task count
+uint8_t Task_2_count = 0; //2nd prior task count
+uint8_t Flag_1 = 0; //1st prior task flag
+uint8_t Flag_2 = 0; //2nd prior task flag
+
+//╔═════════════════╗
+//║ ADC ║
+//╚═════════════════╝
+
+//╔═════════════════╗
+//║ PWM ║
+//╚═════════════════╝
+const int16_t PWM_base[3] = { //reference command at 0, -45, 45 deg
+ PWM_Hip,PWM_Thigh,PWM_Shin
+};
+int16_t PWM[3] = { //command out PWM_base + q_ref
+ 0, 0, 0 //transfer: 10us to 1 deg
+};
+
+//╔═════════════════╗
+//║ q_actEstimator ║
+//╚═════════════════╝
+/*
+q_act_est = q_ref*G1_rad_TUT(z) - q_spring
+
+G1_rad_TUT(z) is shown below
+
+ y(z) 1.316 + 2.633*z^-1 + 1.316*z^-2 b0 + b1*z^-1 + b2*z^-2
+----- = ----------------------------------- * 1e-04 = ------------------------
+ x(z) 1 - 0.8447*z^-1 + 0.1799*z^-2 1 - a1*z^-1 - a2*z^-2
+
+q_ref═>[Σ]════════╦═>[b0]═>[Σ]═[1e-04]═>y
+ ⇑ ⇓w0 ⇑
+ ║ [1/z] ║
+ [Σ]<═[a1]<═╬═>[b1]═>[Σ]
+ ⇑ ⇓w1 ⇑
+ ║ [1/z] ║
+ ╚═══[a2]<═╩═>[b2]═══╝
+ w2
+*/
+float q_act_est[3] = { //output of filter
+ 0, 0, 0
+};
+
+float L_act_est = 0.0;
+float P_act_est = 0.0;
+
+float G1_w_n[3][3] = { //G1_rad_TUT's
+ {0, 0, 0}, //{w0, w1, w2}
+ {0, 0, 0}, //second sea
+ {0, 0, 0},
+};
+const float G1_a[3] = { //{a0, a1, a2}
+ 1.00, 0.8447, -0.1799
+};
+const float G1_b[3] = { //{b0, b1, b2}
+ 1.316, 2.633, 1.316
+};
+
+//╔═════════════════╗//╔══════════════════╗
+//║ Comp_ref ║//║ Controller Input ║
+//╚═════════════════╝//╚══════════════════╝
+/*
+
+---------o------↺ q_act_est[0]
+ /|
+ L1 / | ↻ q_act_est[1]
+ o |
+ L2 ／/
+ ／ / ↻ q_act_est[2]
+o /
+
+ 1 - z^-1
+PDn(z) = P + D*N*---------------------
+ 1 - (1 - N*Ts)*z^-1
+
+ y(z) b0 + b1*z^-1 1 + (-1)*z^-1
+----- = -------------- = ------------------
+ x(z) 1 - a1*z^-1 1 - 0.7*z^-1
+
+x═>[Σ]═══════╦═>[b0]═>[Σ]═>[D*N]═>y
+ ⇑ ⇓w0 ⇑
+ ║ [1/z] ║
+ ╚══[a1]<═╩═>[b1]═══╝
+ w1
+*/
+
+float K_c[3] = { //K_c reference impedence
+ Kpi_Hip, Kpi_Thigh, Kpi_Shin //{Hip, Thigh, Shin}
+};
+float B_c[3] = { //B_c = D*N (*20)reference damping (Dmax~0.4)(B_c_max~5) in joint!!
+ Kd_Hip*KN, Kd_Thigh*KN, Kd_Shin*KN //{Hip, Thigh, Shin}
+};
+float q_0_E[3] = { //"Controller Input" from upper controller in endpoint level (Operational Space)
+ 0, 0.2, 0 //{Hip, leg length, leg angle} original point
+};
+
+float q_0_E_1_gain = 0.2f/255.0f;
+float q_0_E_2_gain = (pi/4)/128.0f;
+
+float T_0[3] = { //"Controller Input" from upper controller in joint level
+ 0, 0, 0 //{T_0_Hip, T_0_Tigh, F_0_Stretch} force feed foward
+};
+float q_err_E[3] = { //error in endpoint level
+ 0, 0, 0
+};
+float q_err_D_E[3] = { //derivative error in endpoint level
+ 0, 0, 0
+};
+float Cref_w[3][2] = { //filter storage
+ {0, 0},
+ {0, 0},
+ {0, 0},
+};
+const float Cref_a[2] = { //{a0, a1}
+ 1.00, 0.70
+};
+const float Cref_b[2] = { //{b0, b1}
+ 1.00, -1.00
+};
+float J32 = 0.0;
+float J33 = 0.0;
+float Phi1_0 = 0.0;
+float Phi2_0 = 0.0;
+
+//╔═════════════════╗
+//║ Torque_reg ║
+//╚═════════════════╝
+/*
+ q_act_est T_ref_WD
+q_ref = ----------- + -------------------------- + PI( T_ref - 2*K_spring*R^2*q_spring )
+ G1_rad_dc 2*K_spring*R^2*G1_rad_dc
+
+PI(z) = P + I*dt / (z-1)
+*/
+const float Kp[3] = { //P gain for Torque REG
+ Kpt, Kpt, Kpt //{Hip, Tigh, Shin}
+};
+const float Kit[3] = { //I gain for Torque REG Kit = Ki*Ts
+ Ki*dt, Ki*dt, Ki*dt //{Hip, Tigh, Shin}
+};
+float T_ref[3] = { //command to T_reg in joint level
+ 0, 0, 0 //{Hip, Tigh, Shin}
+};
+float T_ref_E[3] = { //command to T_reg in end point level
+ 0, 0, 0 //{Hip, Len, Phi}
+};
+float T_ref_WD[3] = { //command without damping reference in joint level
+ 0, 0, 0
+};
+float T_ref_WD_E[3] = { //command without damping reference in endpoint level
+ 0, 0, 0
+};
+float T_err[3] = { //T_ref - T_act_est, T_act_est = q_spring * K_q
+ 0, 0, 0 //{Hip, Tigh, Shin}
+};
+float q_ref[3] = { //output of T_reg
+ 0, 0, 0 //{Hip, Thigh, Shin}
+};
+float q_spring[3] = { //read in spring travel
+ 0, 0, 0
+};
+float q_spring_0[3] = { //neutral point of VR
+ 0, 0, 0
+};
+float T_reg_I[3] = { //PI_w
+ 0, 0, 0
+};
+
+//╔═════════════════╗
+//║ I/O Serial ║
+//╚═════════════════╝
+uint8_t Buff[Buff_size];
+uint8_t Recieve_index = 0;
+uint8_t Cmd_Flag = 0;
+uint8_t Rx_enable = 0;
+char buffer[128];
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Varible registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Function registor≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_TIMER(); //set TT_main() rate
+void TT_main(); //timebase function rated by TT
+void init_q_spring_0(); //calibrating
+void init_IO(); //initialize IO state
+
+void q_spring_Est();
+void q_act_Est();
+void Impedence_Ref();
+void Torque_Reg();
+
+void Rx_irq();
+void Rx_srt();
+void Rx_end();
+//void NVIC_DisableIRQ(USART1_IRQn);
+//void NVIC_EnableIRQ(USART1_IRQn);
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Function registor■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡main funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+int main()
+{
+ Debug.baud(115200); //set baud rate
+ Cmd.baud(115200); //set baud rate
+
+ wait_ms(10);
+ init_q_spring_0(); //calibrating q_spring reference point
+
+ wait_ms(600);
+ init_IO(); //initialized value
+ init_TIMER(); //start TT_main
+
+ Cmd.attach(&Rx_irq,Serial::RxIrq); //start recieving message
+// NVIC_DisableIRQ(USART1_IRQn); //stay down before CS1 signal
+
+ CS1.fall(&Rx_srt); //attach the address of Rx_srt to falling edge as start signal of communication
+ CS1.rise(&Rx_end); //attach the address of Rx_end to rise edge
+
+ //for joint endpoint transform
+ Phi1_0 = (acos((L0*L0+L1*L1-L2*L2)/(2*L0*L1)));
+ Phi2_0 = (Phi1_0 + acos((L0*L0+L2*L2-L1*L1)/(2*L0*L2)));
+
+ while(1) { //main() loop
+
+ //Task judging start
+ if(Flag_1 == 1) { //check pending
+ //Task_1 start
+ //read in condition & estimate state
+ q_spring_Est();
+ q_act_Est();
+
+ //calculate control effort
+ Impedence_Ref();
+ Torque_Reg();
+
+ //PWM Drive out process
+ for(int i=0; i<3; i++) {
+ PWM[i] = PWM_base[i] + q_ref[i]; // X + Controll
+ }
+ //PWM[0] = 1550;
+ //PWM[1] = 1850;
+ //PWM[2] = 1670;
+
+ PWM[0] = constrain(PWM[0],800 ,2100);//safty constrain
+ PWM[1] = constrain(PWM[1],800 ,2100);//safty constrain
+ PWM[2] = constrain(PWM[2],800 ,2100);//safty constrain
+
+ Drive1.pulsewidth_us(PWM[0]); //drive command
+ Drive2.pulsewidth_us(PWM[1]);
+ Drive3.pulsewidth_us(PWM[2]);
+
+ //for Serial-Oscilloscope
+#if DEBUG
+// q_0[2] = -0.9;
+ Debug.printf("%f\n", T_ref[2]);
+// Debug.printf("%f, %f, %f\r", q_0[0], q_0[1], q_0[2]);
+// Debug.printf("%lf\r", adc3.read());
+// Debug.printf("%f\n", 123.23);
+// Debug.printf("%.f\r", q_ref[0]);L_act_est
+// Debug.printf("%.2f\r", q_spring_0[0]);
+// Debug.printf("%.2f\r", J33);
+#endif
+
+ //Task_1 done
+ Flag_1 = 0; //clear pending
+ Task_1 = 0; //clear sign
+ }
+
+ if(Cmd_Flag == 1) {
+ //{...}{Hip, Len, Phi}, {'#'}
+ //Received some shit, start decoding
+ led = 1;
+ if(Buff[3] == 'Q') {
+ //q_0 command
+ q_0_E[0] = (Buff[0] - 128);
+ q_0_E[1] = 0.1f + q_0_E_1_gain * Buff[1];
+ q_0_E[2] = q_0_E_2_gain * (Buff[2]-128);
+ } else if(Buff[3] == 'T') {
+ //T_0 command
+ T_0[0] = 1.0f * (Buff[0] - 128);
+ T_0[1] = 1.0f * (Buff[1] - 128);
+ T_0[2] = 1.0f * (Buff[2] - 128);
+ } else if(Buff[3] == 'K') {
+ K_c[0] = 0.02f * Buff[0];
+ K_c[1] = 0.02f * Buff[1];
+ K_c[2] = 0.02f * Buff[2];
+ } else if (Buff[3] == 'B') {
+ B_c[0] = 0.02f * (Buff[0] - 128);
+ B_c[1] = 0.02f * (Buff[1] - 128);
+ B_c[2] = 0.02f * (Buff[2] - 128);
+ } else {
+ //Show error in communication
+ led2 = 1;
+ }
+
+ Buff[3] = 0x00; //clear end signals
+ Cmd_Flag = 0;
+ led = 0;
+ //Send out message threw Cmd
+// Cmd.printf("%c %c %c\r", Dummy[0], Dummy[1], Dummy[2]);
+ }
+ }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of main funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Timebase funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_TIMER() //set TT_main{} rate
+{
+ TT.attach_us(&TT_main, Rms);
+}
+void TT_main() //interrupt function by TT
+{
+ Task_1_count = Task_1_count + 1;
+ if(Task_1_count > Task_1_NN) {
+ Task_1_count = 0; //Task triggering
+ Flag_1 = 1;
+ Task_1 = 1; //show for indicator
+ }
+ Task_2_count = Task_2_count + 1;
+ if(Task_2_count > Task_2_NN) {
+ Task_2_count = 0;
+ //Task triggering
+ Flag_2 = 1;
+ Task_2 = 1; //show for indicator
+ }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Timebase funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡init_IO funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_IO(void) //initialize
+{
+ CS1.mode(PullUp); //A4
+ CS2.mode(PullUp); //A5
+ CSG = 0; //A6
+ led = 0;
+ Drive1.period_us(15000);
+ Drive2.period_us(15000);
+ Drive3.period_us(15000);
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of init_IO funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡controller funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+
+//follow steps for discrete process in j oder
+//1.update w0[n] threw input x[n] & wi[n] from last sequence
+// w0[n] = x[n] + Zigma( ai*wi[n] ), i = 1, 2, 3...j-1, j.
+// y[n] = Zigma( bi*wi[n] ), i = 0, 1, 2...j-1, j.
+//2.update wi[n+1] for next sequence
+// wi[n] = wi-1[n], i = j, j-1...2, 1.
+
+void q_spring_Est(void)
+{
+ //read in from adc
+ q_spring[0] = -(Kadc * adc1.read() - q_spring_0[0]);
+ q_spring[1] = -(Kadc * adc2.read() - q_spring_0[1]);
+ q_spring[2] = -(Kadc * adc3.read() - q_spring_0[2]);
+}
+
+void q_act_Est(void)
+{
+ for(int i=0; i<3; i++) {
+ q_ref[i] = -(PWM[i] - PWM_base[i]);
+ }
+ //q_act_est = q_ref*G1_rad_TUT(z) - q_spring
+ //G1_rad_TUT(z) is done below
+ for(int i=0; i<3; i++) {
+ //update w0[n] threw input x[n] & wi[n] from last sequence
+ G1_w_n[i][0] = q_ref[i] + G1_a[1]*G1_w_n[i][1] + G1_a[2]*G1_w_n[i][2];
+ q_act_est[i] = G1_b[0]*G1_w_n[i][0] + G1_b[1]*G1_w_n[i][1] + G1_b[2]*G1_w_n[i][2];
+ q_act_est[i] = q_act_est[i]*0.0001f - q_spring[i];
+
+ //update wi[n+1]
+ G1_w_n[i][2] = G1_w_n[i][1];
+ G1_w_n[i][1] = G1_w_n[i][0];
+ }
+ //q_act_est[i] is now ready for following app
+}
+
+void Impedence_Ref(void)
+{
+ //Transform q_act_est from joint to end point
+ q_act_est[1] -= Phi1_0;
+ q_act_est[2] += Phi2_0;
+
+
+
+ L_act_est = sqrt( LA + 2*LB*cos(q_act_est[2]) );
+ P_act_est = q_act_est[1] + asin( L2*sin(q_act_est[2]) / L_act_est );
+
+
+ //Calculate error in end point level
+ //q_0[i] => {Hip, Tigh, Shin}
+ q_err_E[0] = q_0_E[0] - q_act_est[0]; //Hip motor#1
+ q_err_E[1] = q_0_E[1] - L_act_est;
+ q_err_E[2] = q_0_E[2] - P_act_est;
+
+
+
+ for(int i=0; i<3; i++) {
+ //Generate T_ref in Operational Space (OSC control perhaps?)
+ //T_ref_E = PDn( q_err_E );
+
+ //Compliance
+ T_ref_WD_E[i] = K_c[i] * q_err_E[i];
+
+ //Damping
+ //update w0[n] threw input x[n] & wi[n] from last sequence
+ Cref_w[i][0] = q_err_E[i] + Cref_a[1]*Cref_w[i][1];
+ q_err_D_E[i] = Cref_b[0]*Cref_w[i][0] + Cref_b[1]*Cref_w[i][1];
+
+ //update wi[n+1]
+ Cref_w[i][1] = Cref_w[i][0];
+
+ //Generate T_ref in endpoint level
+ T_ref_E[i] = T_ref_WD_E[i] + B_c[i]*q_err_D_E[i];
+ }
+
+ //Transform torque to joint space, T_ref[i] = Σ( J[i][j] * T_ref_E[j] )
+ J32 = -LB*sin(q_act_est[2]) / L_act_est;
+ J33 = ( pow(J32,2)/LB + cos(q_act_est[2]) ) / (LC + cos(q_act_est[2]));
+
+ //Torque of Hip
+ T_ref[0] = T_ref_E[0];
+ T_ref_WD[0] = T_ref_WD_E[0];
+
+ //Torque of Tigh
+ T_ref[1] = T_ref_E[2] + T_0[1];
+ T_ref_WD[1] = T_ref_WD_E[2] + T_0[1];
+
+ //Torque of Shin
+ T_ref[2] = J32*T_ref_E[1] + J33*T_ref_E[2] + J32*T_0[1] + J33*T_0[2];
+ T_ref_WD[2] = J32*T_ref_WD_E[1] + J33*T_ref_WD_E[2] + J32*T_0[1] + J33*T_0[2];
+
+}
+
+void Torque_Reg(void)
+{
+ if(CS2 == 1) {
+
+ //Transform q_act_est from end point to joint
+ q_act_est[1] += Phi1_0;
+ q_act_est[2] -= Phi2_0;
+
+ //Normal command
+ for(int i=0; i<3; i++) {
+ //FeedFoward
+ q_ref[i] = q_act_est[i]*Kqff + T_ref_WD[i]*KTff; //full feedfoward
+ //q_ref[i] = 0; //w/o feedfoward
+
+ //FeedBack
+ T_err[i] = T_ref[i] - K_q*q_spring[i];
+ T_reg_I[i] = T_reg_I[i] + T_err[i]*Kit[i];
+ T_reg_I[i] = constrain(T_reg_I[i], -200, 200);
+ q_ref[i] = -(T_err[i]*Kp[i] + T_reg_I[i] + q_ref[i]);
+ }
+ q_ref[0] = -(q_0_E[0]/128.0f)*225;
+ q_ref[0] = constrain(q_ref[0], -650, 650);
+ q_ref[1] = constrain(q_ref[1], -650, 650);
+ q_ref[2] = constrain(q_ref[2], -650, 650);
+
+
+ } else {
+ //Stretch command
+ for(int i=0; i<3; i++) {
+ T_reg_I[i] = 0;
+ q_ref[i] = 0;
+ }
+ }
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of controller funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡init_q_spring_0 funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void init_q_spring_0(void)
+{
+ for(int i=0; i<1000; i++) {
+ q_spring_0[0] = q_spring_0[0] + Kadc * adc1.read();
+ q_spring_0[1] = q_spring_0[1] + Kadc * adc2.read();
+ q_spring_0[2] = q_spring_0[2] + Kadc * adc3.read();
+ wait_us(100);
+ }
+ q_spring_0[0] = q_spring_0[0] /1000.0f;
+ q_spring_0[1] = q_spring_0[1] /1000.0f;
+ q_spring_0[2] = q_spring_0[2] /1000.0f;
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of init_q_spring_0 funtion■■■■■■■■■■■■■■■■■■■■■■■■//
+
+
+//≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡Rx_xxx funtion≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡//
+void Rx_irq(void)
+{
+ //Keep clear in Rx_irq and leave most work after Rx_end
+ Buff[Recieve_index] = Cmd.getc();
+ Recieve_index = Recieve_index + Rx_enable;
+}
+
+void Rx_srt(void)
+{
+ //start receiving Serial message from Cmd
+// NVIC_EnableIRQ(USART1_IRQn);
+ Rx_enable = 1;
+}
+void Rx_end(void)
+{
+ //end of receiving Serial message from Cmd
+// NVIC_DisableIRQ(USART1_IRQn);
+ Rx_enable = 0;
+ Recieve_index = 0;
+ Cmd_Flag = 1;
+}
+//■■■■■■■■■■■■■■■■■■■■■■■■■■■end of Rx_irq funtion■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■//
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 13 14:21:31 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file