Revision 3:b7a8a60085c1, committed 2016-01-23

Comitter:

icyzkungz

Date:

Sat Jan 23 01:21:22 2016 +0000

Parent:

2:d6be1c49d9d5

Commit message:

solve kinematic problem in offset

Changed in this revision

diff -r d6be1c49d9d5 -r b7a8a60085c1 BEAR_Protocol.lib
--- a/BEAR_Protocol.lib	Fri Jan 22 08:04:41 2016 +0000
+++ b/BEAR_Protocol.lib	Sat Jan 23 01:21:22 2016 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#2398eeafa967
+http://developer.mbed.org/teams/BEaR-lab/code/BEAR_Protocol/#b34eababcf56

diff -r d6be1c49d9d5 -r b7a8a60085c1 InverseLeg.lib
--- a/InverseLeg.lib	Fri Jan 22 08:04:41 2016 +0000
+++ b/InverseLeg.lib	Sat Jan 23 01:21:22 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/BEaR-lab/code/InverseLeg/#d3bb9ead2a55
+http://mbed.org/teams/BEaR-lab/code/InverseLeg/#a2a5ebd65f46

diff -r d6be1c49d9d5 -r b7a8a60085c1 main.cpp
--- a/main.cpp	Fri Jan 22 08:04:41 2016 +0000
+++ b/main.cpp	Sat Jan 23 01:21:22 2016 +0000
@@ -4,10 +4,11 @@
 
 Serial pc(SERIAL_TX,SERIAL_RX);
 Bear_Communicate bcom(PA_15,PB_7,115200);
+Kinematic Left(0,0),Right(0,0);
 
 DigitalIn button(USER_BUTTON);
 
-#define LEFT_SIDE 0x01
+#define LEFT_SIDE  0x01
 #define RIGHT_SIDE 0x02
 
 void SwMode()
@@ -16,6 +17,7 @@
     float temp;
     float LH,LK,RH,RK;
     float LLink[2],RLink[2];
+    float LLink0,LLink1,RLink0,RLink1;
     struct max_ang {
         float Hip;
         float Knee;
@@ -51,18 +53,21 @@
         pc.printf("*\t17) Kp : Right Knee \t\t\t*\n");
         pc.printf("*\t18) Ki : Right Knee \t\t\t*\n");
         pc.printf("*\t19) Kd : Right Knee \t\t\t*\n");
-        pc.printf("*\t20) Save Right Knee data\t\t\t*\n");
+        pc.printf("*\t20) Save Right K(p,i,d) data\t\t\t*\n");
         pc.printf("*\t21) Set Left Hip Margin\n");
         pc.printf("*\t22) Set Left Knee Margin\n");
         pc.printf("*\t23) Set Right Hip Margin\n");
         pc.printf("*\t24) Set Right Knee Margin\n");
-        pc.printf("*\t25) Set Offset\n");
-        pc.printf("*\t26) Set Body Lenght of Left Side\n");
-        pc.printf("*\t27) Set Body Lenght of Right Side\n");
-        pc.printf("*\t28) Set Maximum Hip Angle Range\n");
-        pc.printf("*\t29) Set Minimum Hip Angle Range\n");
-        pc.printf("*\t30) Set Maximum Knee Angle Range\n");
-        pc.printf("*\t31) Set Minimum Knee Angle Range\n");
+        pc.printf("*\t25) Set Lenght of Left Link Hip\n");
+        pc.printf("*\t26) Set Lenght of Left Link Knee\n");
+        pc.printf("*\t27) Set Lenght of Right Link Hip\n");
+        pc.printf("*\t28) Set Lenght of Right Link Knee\n");
+        pc.printf("*\t29) Set Offset\n");
+        pc.printf("*\t30) Set Body Width\n");
+        pc.printf("*\t31) Set Maximum Hip Angle Range\n");
+        pc.printf("*\t32) Set Minimum Hip Angle Range\n");
+        pc.printf("*\t33) Set Maximum Knee Angle Range\n");
+        pc.printf("*\t34) Set Minimum Knee Angle Range\n");
 
         pc.printf("*\t40) Exit Program \t\t\t*\n");
         pc.printf("************Don't Forget to Save Data************\n");
@@ -386,64 +391,117 @@
             } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
         }
 
-        else if(option == 25) { //Offset
-            if(a == true && b == true && c == true && d == true) {
-                //float HipAngle[2],KneeAngle[2];
-                float LHipAngle,LKneeAngle;
-                float RHipAngle,RKneeAngle;
-                bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
-                bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
+        else if(option == 25) { //Lenght of Left Link Hip
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Left Link Hip\n");
+            pc.scanf("%f",&temp);
 
-                Kinematic L( 'Z',  LLink[0],  LLink[1],  LHipAngle,  LKneeAngle);
-                Kinematic R( 'Z',  RLink[0],  RLink[1],  RHipAngle,  RKneeAngle);
+            if(temp != 9999) {
+                pc.printf("\nLenght of Left Link Hip = %f\n",temp);
+                LLink0 = temp;
+                a = true;
+                bcom.setUpLinkLength(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_LINK_LENGTH);
+        }
+
+        else if(option == 26) { //Lenght of Left Link Knee
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Left Link Knee\n");
+            pc.scanf("%f",&temp);
 
-                L.ForwardKinematicCalculation();
-                R.ForwardKinematicCalculation();
+            if(temp != 9999) {
+                pc.printf("\nLenght of Left Link Knee = %f\n",temp);
+                LLink1 = temp;
+                b = true;
+                bcom.setLowLinkLength(LEFT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_LINK_LENGTH);
+        }
+
+        else if(option == 27) { //Lenght of Right Link Hip
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Right Link Hip\n");
+            pc.scanf("%f",&temp);
 
-                float offset_Y,offset_Z;
-                offset_Y = L.get_Position_Y()-R.get_Position_Y();
-                offset_Z = L.get_Position_Z()-R.get_Position_Z();
+            if(temp != 9999) {
+                pc.printf("\nLenght of Right Link Hip = %f\n",temp);
+                RLink0 = temp;
+                c = true;
+                bcom.setUpLinkLength(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_LINK_LENGTH);
+        }
 
-                bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
-                bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
+        else if(option == 28) { //Lenght of Right Link Knee
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Lenght of Right Link Knee\n");
+            pc.scanf("%f",&temp);
 
-            } else pc.printf("\nYou have to do choice 25-28 first\n\n");
+            if(temp != 9999) {
+                pc.printf("\nLenght of Right Link Knee = %f\n",temp);
+                RLink1 = temp;
+                d = true;
+                bcom.setLowLinkLength(RIGHT_SIDE,temp);
+            } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_LINK_LENGTH);
         }
 
-        else if(option == 26) { //Body Lenght of Left Side
-            do {
-                pc.printf("\nType 9999 to Exit to Main Menu\n");
-                pc.printf("Input Body Lenght of Left Side\n");
-                pc.scanf("%f",&temp);
+        else if(option == 29) { //Offset
+            if(a == true && b == true && c == true && d == true) {
+                float LHipAngle,LKneeAngle;
+                float RHipAngle,RKneeAngle;
+                //bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
+                pc.printf("1\n");
+                //bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
+                pc.printf("2\n");
 
-                if(temp != 9999) {
-                    pc.printf("\nBody Lenght = %f\n",temp);
-                    bcom.setBodyLength(LEFT_SIDE,temp);
-                } else bcom.saveDataToEEPROM(LEFT_SIDE,BODY_LENGTH);
+                pc.printf("Kinematic");
+                Left.set_Link_Hip(LLink0);
+                Left.set_Link_Knee(LLink1);
+                Left.set_Zeta_Hip(LHipAngle);
+                Left.set_Zeta_Knee(LKneeAngle);
+                
+                Right.set_Link_Hip(RLink0);
+                Right.set_Link_Knee(RLink1);
+                Right.set_Zeta_Hip(RHipAngle);
+                Right.set_Zeta_Knee(RKneeAngle);
+                //LHipAngle = RHipAngle = LKneeAngle = RKneeAngle = 20; //Test Recieve Value
+                //Kinematic Left('Z',LLink0,LLink1,LHipAngle,LKneeAngle);
+                pc.printf("Obj1\n");
+                //Kinematic Right('Z',RLink0,RLink1,RHipAngle,RKneeAngle);
+                pc.printf("End Kinematic\n");
 
-            } while(temp!=9999);
+                float offset_Y,offset_Z;
+                float y1,y2,z1,z2;
+                y1 = Left.get_Position_Y();
+                y2 = Right.get_Position_Y();
+                z1 = Left.get_Position_Z();
+                z2 = Right.get_Position_Z();
+                offset_Y = y1-y2;
+                offset_Z = z1-z2;
+
+                bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
+                pc.printf("3\n");
+                bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
+
+            } else {
+                pc.printf("\nYou have to do choice 25-27 first\n\n");
+                wait(2);
+            }
         }
 
-        else if(option == 27) { //Body Lenght of Right Side
-            do {
-                pc.printf("\nType 9999 to Exit to Main Menu\n");
-                pc.printf("Input Body Lenght of Right Side\n");
-                pc.scanf("%f",&temp);
-
-                if(temp != 9999) {
-                    pc.printf("\nBody Lenght = %f\n",temp);
-                    bcom.setBodyLength(RIGHT_SIDE,temp);
-                } else bcom.saveDataToEEPROM(RIGHT_SIDE,BODY_LENGTH);
-
-            } while(temp!=9999);
+        else if(option == 30) { //setBodyWidth
+            pc.printf("\nType 9999 to Exit to Main Menu\n");
+            pc.printf("Input Body Width\n");
+            pc.scanf("%f",&temp);
+            pc.printf("\nBody Lenght = %f\n",temp);
+            bcom.setBodyWidth(LEFT_SIDE,temp);
+            bcom.saveDataToEEPROM(LEFT_SIDE,BODY_WIDTH);
         }
 
-        else if(option == 28) { //Set Maximum Hip Angle Range
+        else if(option == 31) { //Set Maximum Hip Angle Range
             do {
                 pc.printf("\nType 9999 to Exit to Main Menu\n");
                 pc.printf("1) Left Side\n");
                 pc.printf("2) Right Side\n");
-                pc.scanf("%f\n",&temp);
+                pc.scanf("%f",&temp);
 
                 if(temp==1) { //Left
                     pc.printf("Input Maximum Hip Angle Range of Left Side\n");
@@ -468,12 +526,12 @@
             } while(temp!=9999);
         }
 
-        else if(option == 29) { //Set Minumum Hip Angle Range
+        else if(option == 32) { //Set Minumum Hip Angle Range
             do {
                 pc.printf("\nType 9999 to Exit to Main Menu\n");
                 pc.printf("1) Left Side\n");
                 pc.printf("2) Right Side\n");
-                pc.scanf("%f\n",&temp);
+                pc.scanf("%f",&temp);
 
                 if(temp==1) { //Left
                     pc.printf("Input Minumum Hip Angle Range of Left Side\n");
@@ -499,12 +557,12 @@
         }
 
 
-        else if(option == 30) { //Set Maximum Knee Angle Range
+        else if(option == 33) { //Set Maximum Knee Angle Range
             do {
                 pc.printf("\nType 9999 to Exit to Main Menu\n");
                 pc.printf("1) Left Side\n");
                 pc.printf("2) Right Side\n");
-                pc.scanf("%f\n",&temp);
+                pc.scanf("%f",&temp);
 
                 if(temp==1) { //Left
                     pc.printf("Input Maximum Knee Angle Range of Left Side\n");
@@ -529,12 +587,12 @@
             } while(temp!=9999);
         }
 
-        else if(option == 28) { //Set Minumum Knee Angle Range
+        else if(option == 34) { //Set Minumum Knee Angle Range
             do {
                 pc.printf("\nType 9999 to Exit to Main Menu\n");
                 pc.printf("1) Left Side\n");
                 pc.printf("2) Right Side\n");
-                pc.scanf("%f\n",&temp);
+                pc.scanf("%f",&temp);
 
                 if(temp==1) { //Left
                     pc.printf("Input Minumum Knee Angle Range of Left Side\n");