B M / Mbed OS final_project23

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Dependencies:   ExperimentServer QEI_pmw MotorShield

main.cpp@23:80e05d939f8c, 2020-09-28 (annotated)

Committer:
saloutos
Date:
Mon Sep 28 20:54:51 2020 +0000
Revision:
23:80e05d939f8c
Parent:
22:448cb9493519
Child:
24:f6e9e29c9263
Removed unused variables

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pwensing 0:43448bf056e8 1 #include "mbed.h"
pwensing 0:43448bf056e8 2 #include "rtos.h"
pwensing 0:43448bf056e8 3 #include "EthernetInterface.h"
pwensing 0:43448bf056e8 4 #include "ExperimentServer.h"
pwensing 0:43448bf056e8 5 #include "QEI.h"
saloutos 16:f9ea2b2d410f 6 #include "BezierCurve.h"
elijahsj 6:1faceb53dabe 7 #include "MotorShield.h"
elijahsj 13:3a1f4e09789b 8 #include "HardwareSetup.h"
pwensing 0:43448bf056e8 9
saloutos 16:f9ea2b2d410f 10 #define BEZIER_ORDER_FOOT 7
saloutos 17:1bb5aa45826e 11 #define NUM_INPUTS (12 + 2*(BEZIER_ORDER_FOOT+1))
saloutos 16:f9ea2b2d410f 12 #define NUM_OUTPUTS 19
pwensing 0:43448bf056e8 13
saloutos 16:f9ea2b2d410f 14 #define PULSE_TO_RAD (2.0f*3.14159f / 1200.0f)
saloutos 16:f9ea2b2d410f 15
saloutos 16:f9ea2b2d410f 16 // Initializations
pwensing 0:43448bf056e8 17 Serial pc(USBTX, USBRX); // USB Serial Terminal
pwensing 0:43448bf056e8 18 ExperimentServer server; // Object that lets us communicate with MATLAB
elijahsj 5:1ab9b2527794 19 Timer t; // Timer to measure elapsed time of experiment
elijahsj 5:1ab9b2527794 20
elijahsj 5:1ab9b2527794 21 QEI encoderA(PE_9,PE_11, NC, 1200, QEI::X4_ENCODING); // MOTOR A ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 22 QEI encoderB(PA_5, PB_3, NC, 1200, QEI::X4_ENCODING); // MOTOR B ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 23 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING); // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 24 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 25
elijahsj 12:84a6dcb60422 26 MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 ticks or ~20kHZ
saloutos 16:f9ea2b2d410f 27 Ticker currentLoop;
saloutos 16:f9ea2b2d410f 28
saloutos 16:f9ea2b2d410f 29 // Variables for q1
saloutos 16:f9ea2b2d410f 30 float current1;
saloutos 16:f9ea2b2d410f 31 float current_des1 = 0;
saloutos 16:f9ea2b2d410f 32 float prev_current_des1 = 0;
saloutos 16:f9ea2b2d410f 33 float current_int1 = 0;
saloutos 16:f9ea2b2d410f 34 float angle1;
saloutos 16:f9ea2b2d410f 35 float velocity1;
saloutos 16:f9ea2b2d410f 36 float duty_cycle1;
saloutos 16:f9ea2b2d410f 37 float angle1_init;
saloutos 16:f9ea2b2d410f 38
saloutos 16:f9ea2b2d410f 39 // Variables for q2
saloutos 16:f9ea2b2d410f 40 float current2;
saloutos 16:f9ea2b2d410f 41 float current_des2 = 0;
saloutos 16:f9ea2b2d410f 42 float prev_current_des2 = 0;
saloutos 16:f9ea2b2d410f 43 float current_int2 = 0;
saloutos 16:f9ea2b2d410f 44 float angle2;
saloutos 16:f9ea2b2d410f 45 float velocity2;
saloutos 16:f9ea2b2d410f 46 float duty_cycle2;
saloutos 16:f9ea2b2d410f 47 float angle2_init;
saloutos 16:f9ea2b2d410f 48
saloutos 16:f9ea2b2d410f 49 // Fixed kinematic parameters
saloutos 16:f9ea2b2d410f 50 const float l_OA=.011;
saloutos 16:f9ea2b2d410f 51 const float l_OB=.042;
saloutos 16:f9ea2b2d410f 52 const float l_AC=.096;
saloutos 16:f9ea2b2d410f 53 const float l_DE=.091;
saloutos 16:f9ea2b2d410f 54
saloutos 16:f9ea2b2d410f 55 // Timing parameters
saloutos 16:f9ea2b2d410f 56 float current_control_period_us = 200.0f; // 5kHz current control loop
saloutos 16:f9ea2b2d410f 57 float impedance_control_period_us = 1000.0f; // 1kHz impedance control loop
saloutos 16:f9ea2b2d410f 58 float start_period, traj_period, end_period;
saloutos 16:f9ea2b2d410f 59
saloutos 16:f9ea2b2d410f 60 // Control parameters
saloutos 19:562c08086d71 61 float current_Kp = 4.0f;
saloutos 19:562c08086d71 62 float current_Ki = 0.4f;
saloutos 19:562c08086d71 63 float current_int_max = 3.0f;
saloutos 16:f9ea2b2d410f 64 float duty_max;
saloutos 16:f9ea2b2d410f 65 float K_xx;
saloutos 16:f9ea2b2d410f 66 float K_yy;
saloutos 16:f9ea2b2d410f 67 float K_xy;
saloutos 16:f9ea2b2d410f 68 float D_xx;
saloutos 16:f9ea2b2d410f 69 float D_xy;
saloutos 16:f9ea2b2d410f 70 float D_yy;
saloutos 16:f9ea2b2d410f 71
saloutos 16:f9ea2b2d410f 72 // Model parameters
saloutos 17:1bb5aa45826e 73 float supply_voltage = 12; // motor supply voltage
saloutos 18:21c8d94eddee 74 float R = 2.0f; // motor resistance
saloutos 18:21c8d94eddee 75 float k_t = 0.18f; // motor torque constant
saloutos 17:1bb5aa45826e 76 float nu = 0.0005; // motor viscous friction
saloutos 16:f9ea2b2d410f 77
saloutos 16:f9ea2b2d410f 78 // Current control interrupt function
saloutos 16:f9ea2b2d410f 79 void CurrentLoop()
saloutos 16:f9ea2b2d410f 80 {
saloutos 19:562c08086d71 81 // This loop sets the motor voltage commands using PI current controllers with feedforward terms.
saloutos 16:f9ea2b2d410f 82
saloutos 16:f9ea2b2d410f 83 //use the motor shield as follows:
saloutos 16:f9ea2b2d410f 84 //motorShield.motorAWrite(DUTY CYCLE, DIRECTION), DIRECTION = 0 is forward, DIRECTION =1 is backwards.
saloutos 16:f9ea2b2d410f 85
saloutos 18:21c8d94eddee 86 current1 = -(((float(motorShield.readCurrentA())/65536.0f)*30.0f)-15.0f); // measure current
saloutos 18:21c8d94eddee 87 velocity1 = encoderA.getVelocity() * PULSE_TO_RAD; // measure velocity
saloutos 18:21c8d94eddee 88 float err_c1 = current_des1 - current1; // current errror
saloutos 18:21c8d94eddee 89 current_int1 += err_c1; // integrate error
saloutos 18:21c8d94eddee 90 current_int1 = fmaxf( fminf(current_int1, current_int_max), -current_int_max); // anti-windup
saloutos 18:21c8d94eddee 91 float ff1 = R*current_des1 + k_t*velocity1; // feedforward terms
saloutos 18:21c8d94eddee 92 duty_cycle1 = (ff1 + current_Kp*err_c1 + current_Ki*current_int1)/supply_voltage; // PI current controller
saloutos 16:f9ea2b2d410f 93
saloutos 16:f9ea2b2d410f 94 float absDuty1 = abs(duty_cycle1);
saloutos 16:f9ea2b2d410f 95 if (absDuty1 > duty_max) {
saloutos 16:f9ea2b2d410f 96 duty_cycle1 *= duty_max / absDuty1;
saloutos 16:f9ea2b2d410f 97 absDuty1 = duty_max;
saloutos 16:f9ea2b2d410f 98 }
saloutos 16:f9ea2b2d410f 99 if (duty_cycle1 < 0) { // backwards
saloutos 16:f9ea2b2d410f 100 motorShield.motorAWrite(absDuty1, 1);
saloutos 16:f9ea2b2d410f 101 } else { // forwards
saloutos 16:f9ea2b2d410f 102 motorShield.motorAWrite(absDuty1, 0);
saloutos 16:f9ea2b2d410f 103 }
saloutos 16:f9ea2b2d410f 104 prev_current_des1 = current_des1;
saloutos 16:f9ea2b2d410f 105
saloutos 18:21c8d94eddee 106 current2 = -(((float(motorShield.readCurrentB())/65536.0f)*30.0f)-15.0f); // measure current
saloutos 18:21c8d94eddee 107 velocity2 = encoderB.getVelocity() * PULSE_TO_RAD; // measure velocity
saloutos 18:21c8d94eddee 108 float err_c2 = current_des2 - current2; // current error
saloutos 18:21c8d94eddee 109 current_int2 += err_c2; // integrate error
saloutos 18:21c8d94eddee 110 current_int2 = fmaxf( fminf(current_int2, current_int_max), -current_int_max); // anti-windup
saloutos 18:21c8d94eddee 111 float ff2 = R*current_des2 + k_t*velocity2; // feedforward terms
saloutos 18:21c8d94eddee 112 duty_cycle2 = (ff2 + current_Kp*err_c2 + current_Ki*current_int2)/supply_voltage; // PI current controller
saloutos 16:f9ea2b2d410f 113
saloutos 16:f9ea2b2d410f 114 float absDuty2 = abs(duty_cycle2);
saloutos 16:f9ea2b2d410f 115 if (absDuty2 > duty_max) {
saloutos 16:f9ea2b2d410f 116 duty_cycle2 *= duty_max / absDuty2;
saloutos 16:f9ea2b2d410f 117 absDuty2 = duty_max;
saloutos 16:f9ea2b2d410f 118 }
saloutos 16:f9ea2b2d410f 119 if (duty_cycle2 < 0) { // backwards
saloutos 16:f9ea2b2d410f 120 motorShield.motorBWrite(absDuty2, 1);
saloutos 16:f9ea2b2d410f 121 } else { // forwards
saloutos 16:f9ea2b2d410f 122 motorShield.motorBWrite(absDuty2, 0);
saloutos 16:f9ea2b2d410f 123 }
saloutos 16:f9ea2b2d410f 124 prev_current_des2 = current_des2;
saloutos 16:f9ea2b2d410f 125
saloutos 16:f9ea2b2d410f 126 }
elijahsj 6:1faceb53dabe 127
elijahsj 4:7a1b35f081bb 128 int main (void)
elijahsj 4:7a1b35f081bb 129 {
saloutos 17:1bb5aa45826e 130
saloutos 17:1bb5aa45826e 131 // Object for 7th order Cartesian foot trajectory
saloutos 17:1bb5aa45826e 132 BezierCurve rDesFoot_bez(2,BEZIER_ORDER_FOOT);
saloutos 17:1bb5aa45826e 133
pwensing 0:43448bf056e8 134 // Link the terminal with our server and start it up
pwensing 0:43448bf056e8 135 server.attachTerminal(pc);
pwensing 0:43448bf056e8 136 server.init();
elijahsj 13:3a1f4e09789b 137
pwensing 0:43448bf056e8 138 // Continually get input from MATLAB and run experiments
pwensing 0:43448bf056e8 139 float input_params[NUM_INPUTS];
elijahsj 5:1ab9b2527794 140 pc.printf("%f",input_params[0]);
elijahsj 5:1ab9b2527794 141
pwensing 0:43448bf056e8 142 while(1) {
saloutos 16:f9ea2b2d410f 143
saloutos 16:f9ea2b2d410f 144 // If there are new inputs, this code will run
pwensing 0:43448bf056e8 145 if (server.getParams(input_params,NUM_INPUTS)) {
saloutos 16:f9ea2b2d410f 146
saloutos 16:f9ea2b2d410f 147
saloutos 17:1bb5aa45826e 148 // Get inputs from MATLAB
saloutos 16:f9ea2b2d410f 149 start_period = input_params[0]; // First buffer time, before trajectory
saloutos 16:f9ea2b2d410f 150 traj_period = input_params[1]; // Trajectory time/length
saloutos 16:f9ea2b2d410f 151 end_period = input_params[2]; // Second buffer time, after trajectory
saloutos 16:f9ea2b2d410f 152
saloutos 16:f9ea2b2d410f 153 angle1_init = input_params[3]; // Initial angle for q1 (rad)
saloutos 16:f9ea2b2d410f 154 angle2_init = input_params[4]; // Initial angle for q2 (rad)
elijahsj 4:7a1b35f081bb 155
saloutos 16:f9ea2b2d410f 156 K_xx = input_params[5]; // Foot stiffness N/m
saloutos 16:f9ea2b2d410f 157 K_yy = input_params[6]; // Foot stiffness N/m
saloutos 16:f9ea2b2d410f 158 K_xy = input_params[7]; // Foot stiffness N/m
saloutos 16:f9ea2b2d410f 159 D_xx = input_params[8]; // Foot damping N/(m/s)
saloutos 19:562c08086d71 160 D_yy = input_params[9]; // Foot damping N/(m/s)
saloutos 16:f9ea2b2d410f 161 D_xy = input_params[10]; // Foot damping N/(m/s)
saloutos 16:f9ea2b2d410f 162 duty_max = input_params[11]; // Maximum duty factor
saloutos 16:f9ea2b2d410f 163
saloutos 19:562c08086d71 164 // Get foot trajectory points
saloutos 16:f9ea2b2d410f 165 float foot_pts[2*(BEZIER_ORDER_FOOT+1)];
saloutos 16:f9ea2b2d410f 166 for(int i = 0; i<2*(BEZIER_ORDER_FOOT+1);i++) {
saloutos 17:1bb5aa45826e 167 foot_pts[i] = input_params[12+i];
saloutos 16:f9ea2b2d410f 168 }
saloutos 16:f9ea2b2d410f 169 rDesFoot_bez.setPoints(foot_pts);
saloutos 16:f9ea2b2d410f 170
saloutos 16:f9ea2b2d410f 171 // Attach current loop interrupt
saloutos 16:f9ea2b2d410f 172 currentLoop.attach_us(CurrentLoop,current_control_period_us);
saloutos 16:f9ea2b2d410f 173
pwensing 0:43448bf056e8 174 // Setup experiment
pwensing 0:43448bf056e8 175 t.reset();
pwensing 0:43448bf056e8 176 t.start();
elijahsj 5:1ab9b2527794 177 encoderA.reset();
elijahsj 5:1ab9b2527794 178 encoderB.reset();
elijahsj 5:1ab9b2527794 179 encoderC.reset();
elijahsj 5:1ab9b2527794 180 encoderD.reset();
elijahsj 10:a40d180c305c 181
elijahsj 15:495333b2ccf1 182 motorShield.motorAWrite(0, 0); //turn motor A off
saloutos 16:f9ea2b2d410f 183 motorShield.motorBWrite(0, 0); //turn motor B off
saloutos 16:f9ea2b2d410f 184
pwensing 0:43448bf056e8 185 // Run experiment
saloutos 16:f9ea2b2d410f 186 while( t.read() < start_period + traj_period + end_period) {
saloutos 16:f9ea2b2d410f 187
saloutos 19:562c08086d71 188 // Read encoders to get motor states
saloutos 16:f9ea2b2d410f 189 angle1 = encoderA.getPulses() *PULSE_TO_RAD + angle1_init;
saloutos 16:f9ea2b2d410f 190 velocity1 = encoderA.getVelocity() * PULSE_TO_RAD;
saloutos 16:f9ea2b2d410f 191
saloutos 16:f9ea2b2d410f 192 angle2 = encoderB.getPulses() * PULSE_TO_RAD + angle2_init;
saloutos 16:f9ea2b2d410f 193 velocity2 = encoderB.getVelocity() * PULSE_TO_RAD;
saloutos 16:f9ea2b2d410f 194
saloutos 16:f9ea2b2d410f 195 const float th1 = angle1;
saloutos 16:f9ea2b2d410f 196 const float th2 = angle2;
saloutos 16:f9ea2b2d410f 197 const float dth1= velocity1;
saloutos 16:f9ea2b2d410f 198 const float dth2= velocity2;
saloutos 16:f9ea2b2d410f 199
saloutos 16:f9ea2b2d410f 200 // Calculate the Jacobian
saloutos 19:562c08086d71 201 float Jx_th1 = 0;
saloutos 19:562c08086d71 202 float Jx_th2 = 0;
saloutos 19:562c08086d71 203 float Jy_th1 = 0;
saloutos 19:562c08086d71 204 float Jy_th2 = 0;
saloutos 19:562c08086d71 205
saloutos 17:1bb5aa45826e 206 // Calculate the forward kinematics (position and velocity)
saloutos 19:562c08086d71 207 float xFoot = 0;
saloutos 19:562c08086d71 208 float yFoot = 0;
saloutos 19:562c08086d71 209 float dxFoot = 0;
saloutos 19:562c08086d71 210 float dyFoot = 0;
saloutos 16:f9ea2b2d410f 211
saloutos 16:f9ea2b2d410f 212 // Set gains based on buffer and traj times, then calculate desired x,y from Bezier trajectory at current time if necessary
saloutos 16:f9ea2b2d410f 213 float teff = 0;
saloutos 16:f9ea2b2d410f 214 float vMult = 0;
saloutos 16:f9ea2b2d410f 215 if( t < start_period) {
saloutos 16:f9ea2b2d410f 216 if (K_xx > 0 || K_yy > 0) {
saloutos 19:562c08086d71 217 K_xx = 50; // for joint space control, set this to 1
saloutos 19:562c08086d71 218 K_yy = 50; // for joint space control, set this to 1
saloutos 19:562c08086d71 219 D_xx = 2; // for joint space control, set this to 0.1
saloutos 19:562c08086d71 220 D_yy = 2; // for joint space control, set this to 0.1
saloutos 16:f9ea2b2d410f 221 K_xy = 0;
saloutos 16:f9ea2b2d410f 222 D_xy = 0;
saloutos 16:f9ea2b2d410f 223 }
saloutos 16:f9ea2b2d410f 224 teff = 0;
saloutos 16:f9ea2b2d410f 225 }
saloutos 16:f9ea2b2d410f 226 else if (t < start_period + traj_period)
saloutos 16:f9ea2b2d410f 227 {
saloutos 19:562c08086d71 228 K_xx = input_params[5]; // Foot stiffness N/m
saloutos 19:562c08086d71 229 K_yy = input_params[6]; // Foot stiffness N/m
saloutos 19:562c08086d71 230 K_xy = input_params[7]; // Foot stiffness N/m
saloutos 19:562c08086d71 231 D_xx = input_params[8]; // Foot damping N/(m/s)
saloutos 19:562c08086d71 232 D_yy = input_params[9]; // Foot damping N/(m/s)
saloutos 16:f9ea2b2d410f 233 D_xy = input_params[10]; // Foot damping N/(m/s)
saloutos 16:f9ea2b2d410f 234 teff = (t-start_period);
saloutos 16:f9ea2b2d410f 235 vMult = 1;
saloutos 16:f9ea2b2d410f 236 }
elijahsj 4:7a1b35f081bb 237 else
saloutos 16:f9ea2b2d410f 238 {
saloutos 17:1bb5aa45826e 239 teff = traj_period;
saloutos 17:1bb5aa45826e 240 vMult = 0;
saloutos 16:f9ea2b2d410f 241 }
saloutos 16:f9ea2b2d410f 242
saloutos 16:f9ea2b2d410f 243 float rDesFoot[2] , vDesFoot[2];
saloutos 16:f9ea2b2d410f 244 rDesFoot_bez.evaluate(teff/traj_period,rDesFoot);
saloutos 16:f9ea2b2d410f 245 rDesFoot_bez.evaluateDerivative(teff/traj_period,vDesFoot);
saloutos 16:f9ea2b2d410f 246 vDesFoot[0]/=traj_period;
saloutos 16:f9ea2b2d410f 247 vDesFoot[1]/=traj_period;
saloutos 16:f9ea2b2d410f 248 vDesFoot[0]*=vMult;
saloutos 16:f9ea2b2d410f 249 vDesFoot[1]*=vMult;
saloutos 17:1bb5aa45826e 250
saloutos 19:562c08086d71 251 // Calculate the inverse kinematics (joint positions and velocities) for desired joint angles
saloutos 18:21c8d94eddee 252 float xFootd = -rDesFoot[0];
saloutos 18:21c8d94eddee 253 float yFootd = rDesFoot[1];
saloutos 18:21c8d94eddee 254 float l_OE = sqrt( (pow(xFootd,2) + pow(yFootd,2)) );
saloutos 17:1bb5aa45826e 255 float alpha = abs(acos( (pow(l_OE,2) - pow(l_AC,2) - pow((l_OB+l_DE),2))/(-2.0f*l_AC*(l_OB+l_DE)) ));
saloutos 18:21c8d94eddee 256 float th2_des = -(3.14159f - alpha);
saloutos 18:21c8d94eddee 257 float th1_des = -((3.14159f/2.0f) + atan2(yFootd,xFootd) - abs(asin( (l_AC/l_OE)*sin(alpha) )));
saloutos 17:1bb5aa45826e 258
saloutos 17:1bb5aa45826e 259 float dd = (Jx_th1*Jy_th2 - Jx_th2*Jy_th1);
saloutos 17:1bb5aa45826e 260 float dth1_des = (1.0f/dd) * ( Jy_th2*vDesFoot[0] - Jx_th2*vDesFoot[1] );
saloutos 17:1bb5aa45826e 261 float dth2_des = (1.0f/dd) * ( -Jy_th1*vDesFoot[0] + Jx_th1*vDesFoot[1] );
saloutos 17:1bb5aa45826e 262
saloutos 16:f9ea2b2d410f 263 // Calculate error variables
saloutos 19:562c08086d71 264 float e_x = 0;
saloutos 19:562c08086d71 265 float e_y = 0;
saloutos 19:562c08086d71 266 float de_x = 0;
saloutos 19:562c08086d71 267 float de_y = 0;
saloutos 17:1bb5aa45826e 268
saloutos 16:f9ea2b2d410f 269 // Calculate virtual force on foot
saloutos 19:562c08086d71 270 float fx = 0;
saloutos 19:562c08086d71 271 float fy = 0;
saloutos 18:21c8d94eddee 272
saloutos 19:562c08086d71 273 // Set desired currents
saloutos 19:562c08086d71 274 current_des1 = 0;
saloutos 19:562c08086d71 275 current_des2 = 0;
saloutos 19:562c08086d71 276
saloutos 17:1bb5aa45826e 277 // Joint impedance
saloutos 17:1bb5aa45826e 278 // sub Kxx for K1, Dxx for D1, Kyy for K2, Dyy for D2
saloutos 22:448cb9493519 279 // Note: Be careful with signs now that you have non-zero desired angles!
saloutos 22:448cb9493519 280 // Your equations should be of the form i_d = K1*(q1_d - q1) + D1*(dq1_d - dq1)
saloutos 19:562c08086d71 281 // current_des1 = 0;
saloutos 19:562c08086d71 282 // current_des2 = 0;
saloutos 19:562c08086d71 283
saloutos 22:448cb9493519 284 // Cartesian impedance
saloutos 22:448cb9493519 285 // Note: As with the joint space laws, be careful with signs!
saloutos 19:562c08086d71 286 // current_des1 = 0;
saloutos 19:562c08086d71 287 // current_des2 = 0;
saloutos 16:f9ea2b2d410f 288
saloutos 19:562c08086d71 289
saloutos 19:562c08086d71 290 // Form output to send to MATLAB
saloutos 16:f9ea2b2d410f 291 float output_data[NUM_OUTPUTS];
saloutos 16:f9ea2b2d410f 292 // current time
pwensing 0:43448bf056e8 293 output_data[0] = t.read();
saloutos 16:f9ea2b2d410f 294 // motor 1 state
saloutos 16:f9ea2b2d410f 295 output_data[1] = angle1;
saloutos 16:f9ea2b2d410f 296 output_data[2] = velocity1;
saloutos 16:f9ea2b2d410f 297 output_data[3] = current1;
saloutos 16:f9ea2b2d410f 298 output_data[4] = current_des1;
saloutos 16:f9ea2b2d410f 299 output_data[5] = duty_cycle1;
saloutos 16:f9ea2b2d410f 300 // motor 2 state
saloutos 16:f9ea2b2d410f 301 output_data[6] = angle2;
saloutos 16:f9ea2b2d410f 302 output_data[7] = velocity2;
saloutos 16:f9ea2b2d410f 303 output_data[8] = current2;
saloutos 16:f9ea2b2d410f 304 output_data[9] = current_des2;
saloutos 16:f9ea2b2d410f 305 output_data[10]= duty_cycle2;
saloutos 16:f9ea2b2d410f 306 // foot state
saloutos 16:f9ea2b2d410f 307 output_data[11] = xFoot;
saloutos 16:f9ea2b2d410f 308 output_data[12] = yFoot;
saloutos 17:1bb5aa45826e 309 output_data[13] = dxFoot;
saloutos 17:1bb5aa45826e 310 output_data[14] = dyFoot;
saloutos 17:1bb5aa45826e 311 output_data[15] = rDesFoot[0];
saloutos 17:1bb5aa45826e 312 output_data[16] = rDesFoot[1];
saloutos 17:1bb5aa45826e 313 output_data[17] = vDesFoot[0];
saloutos 17:1bb5aa45826e 314 output_data[18] = vDesFoot[1];
elijahsj 13:3a1f4e09789b 315
pwensing 0:43448bf056e8 316 // Send data to MATLAB
pwensing 0:43448bf056e8 317 server.sendData(output_data,NUM_OUTPUTS);
saloutos 16:f9ea2b2d410f 318
saloutos 16:f9ea2b2d410f 319 wait_us(impedance_control_period_us);
elijahsj 4:7a1b35f081bb 320 }
saloutos 16:f9ea2b2d410f 321
pwensing 0:43448bf056e8 322 // Cleanup after experiment
pwensing 0:43448bf056e8 323 server.setExperimentComplete();
saloutos 16:f9ea2b2d410f 324 currentLoop.detach();
elijahsj 12:84a6dcb60422 325 motorShield.motorAWrite(0, 0); //turn motor A off
saloutos 16:f9ea2b2d410f 326 motorShield.motorBWrite(0, 0); //turn motor B off
saloutos 16:f9ea2b2d410f 327
pwensing 0:43448bf056e8 328 } // end if
saloutos 16:f9ea2b2d410f 329
pwensing 0:43448bf056e8 330 } // end while
elijahsj 10:a40d180c305c 331
elijahsj 6:1faceb53dabe 332 } // end main
elijahsj 6:1faceb53dabe 333