HeRoS: read out and log joint angles and force sensor data from the leg test bench. Now with additional features to read pressure sensors and set the null values of the pressure and force sensors
Dependencies: SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL PinDetect Valve LCM101
Fork of heros_leg_readout_torque_addition by
main.cpp
- Committer:
- cnckiwi31
- Date:
- 2020-02-17
- Revision:
- 10:77fcbad99a31
- Parent:
- 5:63063a9fa51c
- Child:
- 11:b0a6faaa5e9f
File content as of revision 10:77fcbad99a31:
/** * Author: Allan Veale * Date: 27/11/19 * Purpose: Datalog from the active wearable test rig fitted with the first * realistic (foam tissue) leg */ //Both the general mbed header and the test rig bench header are needed #include "mbed.h" #include "bench.h" //Example experiment method void runDemoExperiment0(int cycles, float targetkPa); //Methods for testing DAC chip - leave for now void selectDACB(); void deselectDACB(); void testDAC(); void testToggleChannel(); DigitalOut myled(LED1); DigitalOut CSA(DAC_CSA); DigitalOut CSB(DAC_CSB); SPI spi(DAC_MOSI,DAC_MISO,DAC_SCLK); // Create bench object - this is used to control the test rig Bench leg; /** * Main loop */ int main() { leg.setLoggingFrequency(100); //Set datalogging frequency /* Two extra columns of data will be recorded in this experiment. One for the target pressure, and the other for the number of sit and stand cycles currently completed in the experiment */ string colNames[] = {"Target pressure (kPa)","Cycle"}; //add data headings leg.setExtraColumns(colNames,2); float targetP = 200; //Target pressure in kPa int expCycles = 2; //Number of sit to stand to sit cycles float vals[] = {targetP,0}; //set initial values of data that will be logged leg.setExtraData(vals); /* Setup all peripherals on rig, display info about SD card and the user interface menu */ leg.initialise(); //this gives the 10MHz, normal clock polarity, mode 1 spi we need, pins are same as for encoder /*Run an experiment when the button is pressed to start datalogging and stop it if the button is pressed again to stop datalogging (or when experiment stops - then datalogging stops by itself) */ while (true) { if (leg.isLogging()) { runDemoExperiment0(expCycles,targetP); } } } /** * Shows how a demo experiment works. This experiment pressurises the leg to * pressure targetkPa, depressurises it, and then repeats the process cycles * number of times * @param cycles: the number of cycles the leg goes up and down * @param targetkPa: the pressure at which the valve is opened to let the leg go down */ void runDemoExperiment0(int cycles, float targetkPa) { //The experiment starts when logging does bool experimentRunning = leg.isLogging(); //Stop the Bench class from printing, so this method can print leg.pausePrint(); if (experimentRunning) { // Pressurise and depressurise the leg cycles number of times for (int i=0; i<cycles; i++) { leg.pc.printf("\r\nCycle: \t%i out of \t%i",i+1,cycles); //Update cycles logged float data[] = {targetkPa,i+1}; leg.setExtraData(data); //Pressurise leg.setValve(true); //Wait until measured pressure reaches target pressure float measureP = 0; while(measureP < targetkPa) { //Keep checking logging is going experimentRunning = leg.isLogging(); if (experimentRunning) { measureP = leg.getPressure0()*100;//Conversion of bar to kPa wait(0.05);//Wait a bit } else { //Logging stopped leg.stopLogging(); //Stop logging data leg.setValve(false); //Depressurise leg.resumePrint(); //Let the Bench class print return; } } //Depressurise leg.setValve(false); /*Wait until depressurised (completely depressurised is around 10-12 kPa due to current sensor calibration)*/ while(measureP > 15) { //Keep checking logging is going experimentRunning = leg.isLogging(); if (experimentRunning) { measureP = leg.getPressure0()*100;//Conversion of bar to kpa wait(0.05);//Wait a bit } else { //Logging stopped leg.stopLogging(); //Stop logging data leg.resumePrint(); //Let the Bench class print return; } } } // Logging stopped as experiment is fully completed leg.stopLogging(); //Stop logging data leg.resumePrint(); //Let the Bench class print } } void testDAC() { //setup SPI to write 8 bit words, mode 1 and turn select lines high spi.format(8,1); spi.frequency(200000); deselectDACB(); wait_ms(20); //Power up DAC selectDACB(); spi.write(0xE0); spi.write(0x00); deselectDACB(); //Write a value to a channel selectDACB(); spi.write(0x47); spi.write(0xFF); deselectDACB(); /* selectDACB(); spi.write(0x2F); spi.write(0xFF); deselectDACB(); selectDACB(); spi.write(0x60); spi.write(0x00); deselectDACB();*/ //wait(3); //Write a value to a channel /* selectDACB(); spi.write(0x40); spi.write(0x00); deselectDACB();*/ while (true) { myled = !myled; wait_ms(500); } } /** Selects DAC B (enable line goes low) */ void selectDACB() { CSB.write(0); wait_us(1); } /** Deselects DAC B (enable line goes high) */ void deselectDACB() { CSB.write(1); wait_us(1); } void testToggleChannel() { // POWER up dac //select chip CSB.write(0); wait_us(1); spi.write(0b11100000); spi.write(0b00000000); //deselect chip CSB.write(1); wait_us(1); //write output on a //select chip CSB.write(0); wait_us(1); spi.write(0b01000011); spi.write(0b11111111); //deselect chip CSB.write(1); wait_us(1); //write output on b //select chip CSB.write(0); wait_us(1); spi.write(0b01011011); spi.write(0b11111111); //deselect chip CSB.write(1); wait_us(1); while (true) { //leg.pc.printf("Hi"); // POWER up dac //select chip CSB.write(0); wait_us(1); spi.write(0b11100000); spi.write(0b00000000); //deselect chip CSB.write(1); wait_us(1); //write output on a //select chip CSB.write(0); wait_us(1); spi.write(0b01010011); spi.write(0b11111111); spi.write(0b01001011); spi.write(0b11111111); //deselect chip CSB.write(1); wait_us(1); wait_ms(100); } bool ch = true; while (true) { //data value unsigned int data = 0xFFF; //if more than 12 bits (0xfff) then set all bits true) if (data > 0xFFF) { data = 0xFFF; } //select chip //bring cs low CSB.write(0); //wait a bit (more than 40ns) wait_us(1); //transfer a command (for channel a 0x4<<12 + data masked to 12 bits, for channel b 0x5<<12 + data masked to 12 bits) int command = (0x01<<12);//default to channel a /*if (!ch) { command = (0x05<<12); } */ data = command + (data&0xFFF); //spi.write(data); spi.write(data>>8); spi.write(data & 0x00FF); //bring cs high CSB.write(1); //wait a bit (more than 10-15ns) wait_us(1); wait_ms(10); //leg.pc.printf("\r\nCommand: \t%i",command); //leg.pc.printf("\r\nData: \t%i",data); ch = !ch; } }