chen xin
1
Diff: main.cpp
- Revision:
- 2:25837cbaee98
- Parent:
- 1:79e0d4791936
- Child:
- 3:9ef9b4c66648
--- 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) {
+
}