Diff: main.cpp

Revision:

3:6f00e4876cab

Parent:

2:ea7ef710a07f

Child:

4:af5440b3af19

--- a/main.cpp	Mon Nov 25 20:17:48 2013 +0000
+++ b/main.cpp	Mon Nov 25 21:54:30 2013 +0000
@@ -16,7 +16,7 @@
 DigitalOut mDir2_B(p12);
 AnalogIn aIn2(p20);
 PwmOut pwmOut2(p22);
-QEI encoder2(p25, p26, NC, 1200, QEI::X4_ENCODING);
+QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING);
 
 // Declare other objects
 Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
@@ -32,18 +32,24 @@
 float fPWM = 1000;
 int nTraj = 0; //trajectory index
 float aD[2] = {0.0, 0.0};
-float traj1[] = {};
-float traj2[] = {};
+//knee
+float traj2[] = {0.0000,0.082808,0.16684,0.25007,0.3309,0.40823,0.48137,0.54996,0.61388,0.67319,0.72803,0.77865,0.82528,0.8682,0.90766,0.94392,0.9772,1.0077,1.0357,1.0613,1.0847,1.106,1.1253,1.1429,1.1587,1.1729,1.1856,1.1968,1.2066,1.215,1.2222,1.2281,1.2329,1.2364,1.2388,1.2401,1.2403,1.2395,1.2375,1.2346,1.2306,1.2256,1.2196,1.2126,1.2047,1.1958,1.1859,1.1751,1.1634,1.1508,1.1373,1.1229,1.1077,1.0917,1.0749,1.0573,1.039,1.02,1.0002,0.97986,0.95884,0.93722,0.91503,0.8923,0.86905,0.84532,0.82113,0.79652,0.77151,0.74614,0.72043,0.69442,0.66812,0.64158,0.61483,0.58788,0.56079,0.53357,0.50627,0.47892,0.45155,0.42421,0.39695,0.3698,0.34282,0.31606,0.28958,0.26345,0.23774,0.21252,0.18788,0.16391,0.14073,0.11845,0.097185,0.077089,0.058313,0.041026,0.02541,0.011664,0.0};
+//float traj2[] = {0.0,0.0,0.0};
+//hip
+float traj1[] = {0,-0.07531,-0.1448,-0.20762,-0.2633,-0.31173,-0.35308,-0.38772,-0.41614,-0.43889,-0.45652,-0.4696,-0.47862,-0.48407,-0.48638,-0.48592,-0.48306,-0.47809,-0.47128,-0.46289,-0.45311,-0.44214,-0.43016,-0.41731,-0.40372,-0.38952,-0.37482,-0.35971,-0.3443,-0.32866,-0.31286,-0.29698,-0.28107,-0.26521,-0.24944,-0.23382,-0.21839,-0.2032,-0.18828,-0.17367,-0.15942,-0.14554,-0.13206,-0.11902,-0.10642,-0.0943,-0.08266,-0.07153,-0.0609,-0.05078,-0.04118,-0.03211,-0.02355,-0.0155,-0.00796,-0.00092,0.00563,0.0117,0.01731,0.02247,0.02719,0.0315,0.03542,0.03894,0.04211,0.04493,0.04742,0.04961,0.05151,0.05313,0.0545,0.05563,0.05654,0.05725,0.05776,0.05809,0.05825,0.05826,0.05813,0.05785,0.05744,0.0569,0.05623,0.05543,0.05449,0.05342,0.05218,0.05078,0.04919,0.04738,0.04533,0.043,0.04035,0.03732,0.03386,0.02991,0.0254,0.02024,0.01434,0.00763,0};
+//float traj1[] = {0.0,0.0,0.0};
 int numPoints = sizeof(traj1)/sizeof(traj1[0]);
-float fTraj = numPoints/3.0;   //time frequency of trajectory commands
+float fTraj = numPoints/0.5;   //time frequency of trajectory commands
 //starting motor positions
-float a0_1 = traj1[0];
-float a0_2 = traj2[0];
+float a1_0 = traj1[0];
+float a2_0 = traj2[0];
 float e1 = 0;
 float e2 = 0;
 //controller gains
-float kp = 0.7;
-float kd = 0.0;
+float kp1 = 1.7;
+float kd1 = 0.0;
+float kp2 = 1.5;
+float kd2 = 0.0;
 
 bool done = false;
 
@@ -67,21 +73,21 @@
     //command motor speed
     pwmOut1.period(.0001); //set pwm frequency to 10kHz
     pwmOut2.period(.0001); //set pwm frequency to 10kHz
-    pwmOut1.write(abs(kp*e1)+abs(w1*kd));
-    pwmOut2.write(abs(kp*e2)+abs(w2*kd));
+    pwmOut1.write(abs(kp1*e1)+abs(w1*kd1));
+    pwmOut2.write(abs(kp2*e2)+abs(w2*kd2));
     
     a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity)
     a2_t0 = a2_t1;
 }
 
 void setTraj() {
-    if (nTraj > numPoints){
-        //nTraj = 0;
-        done = true;
+    if (nTraj >= numPoints){
+        nTraj = 0;
+        //done = true;
     } else {
         done = false;
-        aD[0] = traj1[nTraj]-a0_1;
-        aD[1] = traj2[nTraj]-a0_2;
+        aD[0] = traj1[nTraj]-a1_0;
+        aD[1] = traj2[nTraj]-a2_0;
 //        aD[1] = traj2[nTraj]-a0_2+aD[0]; //corrects for coaxial motors
         nTraj++;
     }
@@ -101,7 +107,8 @@
     if (sizeof(traj1) == sizeof(traj2)) {
         trajTicker.attach(setTraj, 1/fTraj);
         ctrlTicker.attach(pdControl, 1/fPWM);
-        while (!done) {mySerial.printf("d: %f a: %f \n\r", aD[0], a1_t1);}
+        //while (!done) {mySerial.printf("targets 1: %f 2: %f \n\r", aD[0], aD[1]);}
+        while (!done) {mySerial.printf("motor 2: %f \n\r", a2_t1);}
         mySerial.printf("Done\n\r");
         mDir1_A = 0;
         mDir1_B = 0;