Code to let Gr20's BioRobotics2017 robot come to live.
Dependencies: FastPWM MODSERIAL QEI mbed
main.cpp@0:caa8ee3bd882, 2017-11-12 (annotated)
- Committer:
- megrootens
- Date:
- Sun Nov 12 00:14:05 2017 +0000
- Revision:
- 0:caa8ee3bd882
- Child:
- 2:df0c6af898ac
setup code. too much play in gears and axles slip. But performance already better than bio robotics.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
megrootens | 0:caa8ee3bd882 | 1 | #include "main.h" |
megrootens | 0:caa8ee3bd882 | 2 | |
megrootens | 0:caa8ee3bd882 | 3 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 4 | // UI implementation |
megrootens | 0:caa8ee3bd882 | 5 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 6 | |
megrootens | 0:caa8ee3bd882 | 7 | void ui::StatusDisplay() |
megrootens | 0:caa8ee3bd882 | 8 | { |
megrootens | 0:caa8ee3bd882 | 9 | switch (robot::state) { |
megrootens | 0:caa8ee3bd882 | 10 | case robot::OFF: // continuous red; |
megrootens | 0:caa8ee3bd882 | 11 | rgb_led[0] = LED_ON; |
megrootens | 0:caa8ee3bd882 | 12 | rgb_led[1] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 13 | rgb_led[2] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 14 | break; |
megrootens | 0:caa8ee3bd882 | 15 | case robot::CALIBRATION: // alternating red-green; busy |
megrootens | 0:caa8ee3bd882 | 16 | rgb_led[0] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 17 | rgb_led[1] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 18 | rgb_led[2] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 19 | break; |
megrootens | 0:caa8ee3bd882 | 20 | case robot::HOMING: // alternating green-blue; busy |
megrootens | 0:caa8ee3bd882 | 21 | rgb_led[0] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 22 | rgb_led[1] = !rgb_led[1]; |
megrootens | 0:caa8ee3bd882 | 23 | rgb_led[2] = !rgb_led[1]; |
megrootens | 0:caa8ee3bd882 | 24 | break; |
megrootens | 0:caa8ee3bd882 | 25 | case robot::READY: // continuous green |
megrootens | 0:caa8ee3bd882 | 26 | rgb_led[0] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 27 | rgb_led[1] = LED_ON; |
megrootens | 0:caa8ee3bd882 | 28 | rgb_led[2] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 29 | break; |
megrootens | 0:caa8ee3bd882 | 30 | case robot::DEMO: // alternating red-blue; busy |
megrootens | 0:caa8ee3bd882 | 31 | rgb_led[0] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 32 | rgb_led[1] = !LED_ON; |
megrootens | 0:caa8ee3bd882 | 33 | rgb_led[2] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 34 | break; |
megrootens | 0:caa8ee3bd882 | 35 | case robot::MANUAL: // alternating green-purple |
megrootens | 0:caa8ee3bd882 | 36 | rgb_led[0] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 37 | rgb_led[1] = !rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 38 | rgb_led[2] = rgb_led[0]; |
megrootens | 0:caa8ee3bd882 | 39 | break; |
megrootens | 0:caa8ee3bd882 | 40 | } |
megrootens | 0:caa8ee3bd882 | 41 | } |
megrootens | 0:caa8ee3bd882 | 42 | |
megrootens | 0:caa8ee3bd882 | 43 | |
megrootens | 0:caa8ee3bd882 | 44 | |
megrootens | 0:caa8ee3bd882 | 45 | void ui::SwitchState(State new_state) |
megrootens | 0:caa8ee3bd882 | 46 | { |
megrootens | 0:caa8ee3bd882 | 47 | ui::serial.printf("* Switching Input State to: %s\r\n",StateNames[new_state]); |
megrootens | 0:caa8ee3bd882 | 48 | ui::state = new_state; |
megrootens | 0:caa8ee3bd882 | 49 | } |
megrootens | 0:caa8ee3bd882 | 50 | |
megrootens | 0:caa8ee3bd882 | 51 | void robot::SwitchState(State new_state) |
megrootens | 0:caa8ee3bd882 | 52 | { |
megrootens | 0:caa8ee3bd882 | 53 | ui::serial.printf("* Switching Robot State to: %s\r\n",StateNames[new_state]); |
megrootens | 0:caa8ee3bd882 | 54 | state = new_state; |
megrootens | 0:caa8ee3bd882 | 55 | } |
megrootens | 0:caa8ee3bd882 | 56 | |
megrootens | 0:caa8ee3bd882 | 57 | void ui::InterruptSwitch2() |
megrootens | 0:caa8ee3bd882 | 58 | { |
megrootens | 0:caa8ee3bd882 | 59 | if (robot::has_power()) { |
megrootens | 0:caa8ee3bd882 | 60 | robot::Stop(); |
megrootens | 0:caa8ee3bd882 | 61 | } else { |
megrootens | 0:caa8ee3bd882 | 62 | robot::Start(); |
megrootens | 0:caa8ee3bd882 | 63 | } |
megrootens | 0:caa8ee3bd882 | 64 | } |
megrootens | 0:caa8ee3bd882 | 65 | |
megrootens | 0:caa8ee3bd882 | 66 | void ui::InterruptSwitch3() |
megrootens | 0:caa8ee3bd882 | 67 | { |
megrootens | 0:caa8ee3bd882 | 68 | switch (state) { |
megrootens | 0:caa8ee3bd882 | 69 | case STATE_SWITCHING: |
megrootens | 0:caa8ee3bd882 | 70 | robot::GoToNextState(); |
megrootens | 0:caa8ee3bd882 | 71 | break; |
megrootens | 0:caa8ee3bd882 | 72 | } |
megrootens | 0:caa8ee3bd882 | 73 | } |
megrootens | 0:caa8ee3bd882 | 74 | |
megrootens | 0:caa8ee3bd882 | 75 | |
megrootens | 0:caa8ee3bd882 | 76 | |
megrootens | 0:caa8ee3bd882 | 77 | |
megrootens | 0:caa8ee3bd882 | 78 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 79 | // Robot implementation |
megrootens | 0:caa8ee3bd882 | 80 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 81 | |
megrootens | 0:caa8ee3bd882 | 82 | |
megrootens | 0:caa8ee3bd882 | 83 | void robot::GoToNextState() |
megrootens | 0:caa8ee3bd882 | 84 | { |
megrootens | 0:caa8ee3bd882 | 85 | switch (state) { |
megrootens | 0:caa8ee3bd882 | 86 | case OFF: |
megrootens | 0:caa8ee3bd882 | 87 | SwitchState(CALIBRATION); |
megrootens | 0:caa8ee3bd882 | 88 | ui::SwitchState(ui::IGNORE); |
megrootens | 0:caa8ee3bd882 | 89 | Start(); |
megrootens | 0:caa8ee3bd882 | 90 | break; |
megrootens | 0:caa8ee3bd882 | 91 | case CALIBRATION: |
megrootens | 0:caa8ee3bd882 | 92 | SwitchState(HOMING); |
megrootens | 0:caa8ee3bd882 | 93 | Start(); |
megrootens | 0:caa8ee3bd882 | 94 | break; |
megrootens | 0:caa8ee3bd882 | 95 | case HOMING: |
megrootens | 0:caa8ee3bd882 | 96 | SwitchState(DEMO); |
megrootens | 0:caa8ee3bd882 | 97 | //ui::SwitchState(ui::STATE_SWITCHING); |
megrootens | 0:caa8ee3bd882 | 98 | break; |
megrootens | 0:caa8ee3bd882 | 99 | case READY: |
megrootens | 0:caa8ee3bd882 | 100 | SwitchState(DEMO); |
megrootens | 0:caa8ee3bd882 | 101 | break; |
megrootens | 0:caa8ee3bd882 | 102 | case DEMO: |
megrootens | 0:caa8ee3bd882 | 103 | SwitchState(MANUAL); |
megrootens | 0:caa8ee3bd882 | 104 | break; |
megrootens | 0:caa8ee3bd882 | 105 | default: |
megrootens | 0:caa8ee3bd882 | 106 | SwitchState(OFF); |
megrootens | 0:caa8ee3bd882 | 107 | robot::is_calibrated = false; |
megrootens | 0:caa8ee3bd882 | 108 | Stop(); |
megrootens | 0:caa8ee3bd882 | 109 | } |
megrootens | 0:caa8ee3bd882 | 110 | } |
megrootens | 0:caa8ee3bd882 | 111 | |
megrootens | 0:caa8ee3bd882 | 112 | bool robot::has_power() |
megrootens | 0:caa8ee3bd882 | 113 | { |
megrootens | 0:caa8ee3bd882 | 114 | return m1.has_power() or m2.has_power(); |
megrootens | 0:caa8ee3bd882 | 115 | } |
megrootens | 0:caa8ee3bd882 | 116 | |
megrootens | 0:caa8ee3bd882 | 117 | double robot::get_angle(int i) |
megrootens | 0:caa8ee3bd882 | 118 | { |
megrootens | 0:caa8ee3bd882 | 119 | switch(i) { |
megrootens | 0:caa8ee3bd882 | 120 | case 1: |
megrootens | 0:caa8ee3bd882 | 121 | return m1.get_angle(); |
megrootens | 0:caa8ee3bd882 | 122 | case 2: |
megrootens | 0:caa8ee3bd882 | 123 | return m2.get_angle(); |
megrootens | 0:caa8ee3bd882 | 124 | default: |
megrootens | 0:caa8ee3bd882 | 125 | return NULL; |
megrootens | 0:caa8ee3bd882 | 126 | } |
megrootens | 0:caa8ee3bd882 | 127 | } |
megrootens | 0:caa8ee3bd882 | 128 | |
megrootens | 0:caa8ee3bd882 | 129 | double robot::ForwardKinematicsX(double theta_1, double theta_2) |
megrootens | 0:caa8ee3bd882 | 130 | { |
megrootens | 0:caa8ee3bd882 | 131 | return kL1*cos(deg2rad(theta_1)) + kL2*cos(deg2rad(theta_2)); |
megrootens | 0:caa8ee3bd882 | 132 | } |
megrootens | 0:caa8ee3bd882 | 133 | |
megrootens | 0:caa8ee3bd882 | 134 | double robot::ForwardKinematicsY(double theta_1, double theta_2) |
megrootens | 0:caa8ee3bd882 | 135 | { |
megrootens | 0:caa8ee3bd882 | 136 | return kL1*sin(deg2rad(theta_1)) + kL2*sin(deg2rad(theta_2)); |
megrootens | 0:caa8ee3bd882 | 137 | } |
megrootens | 0:caa8ee3bd882 | 138 | |
megrootens | 0:caa8ee3bd882 | 139 | double robot::get_x() |
megrootens | 0:caa8ee3bd882 | 140 | { |
megrootens | 0:caa8ee3bd882 | 141 | return ForwardKinematicsX(get_angle(1),get_angle(2)); |
megrootens | 0:caa8ee3bd882 | 142 | } |
megrootens | 0:caa8ee3bd882 | 143 | |
megrootens | 0:caa8ee3bd882 | 144 | double robot::get_y() |
megrootens | 0:caa8ee3bd882 | 145 | { |
megrootens | 0:caa8ee3bd882 | 146 | return ForwardKinematicsY(get_angle(1),get_angle(2)); |
megrootens | 0:caa8ee3bd882 | 147 | } |
megrootens | 0:caa8ee3bd882 | 148 | |
megrootens | 0:caa8ee3bd882 | 149 | double robot::InverseKinematicsTheta(double x, double y, int i) |
megrootens | 0:caa8ee3bd882 | 150 | { |
megrootens | 0:caa8ee3bd882 | 151 | double r = sqrt(pow(x,2) + pow(y,2)); |
megrootens | 0:caa8ee3bd882 | 152 | double dir_angle = rad2deg( atan2(y,x) ); |
megrootens | 0:caa8ee3bd882 | 153 | |
megrootens | 0:caa8ee3bd882 | 154 | double int_angle_1 = rad2deg( acos((pow(kL1,2) + pow(r,2) - pow(kL2,2))/(2*kL1*r)) ); |
megrootens | 0:caa8ee3bd882 | 155 | double int_angle_2 = rad2deg( acos((pow(kL2,2) + pow(r,2) - pow(kL1,2))/(2*kL2*r)) ); |
megrootens | 0:caa8ee3bd882 | 156 | |
megrootens | 0:caa8ee3bd882 | 157 | double theta_1 = dir_angle + int_angle_1; |
megrootens | 0:caa8ee3bd882 | 158 | double theta_2 = dir_angle - int_angle_2; |
megrootens | 0:caa8ee3bd882 | 159 | |
megrootens | 0:caa8ee3bd882 | 160 | switch (i) { |
megrootens | 0:caa8ee3bd882 | 161 | case 1: return theta_1; |
megrootens | 0:caa8ee3bd882 | 162 | case 2: return theta_2; |
megrootens | 0:caa8ee3bd882 | 163 | default: return NULL; |
megrootens | 0:caa8ee3bd882 | 164 | } |
megrootens | 0:caa8ee3bd882 | 165 | } |
megrootens | 0:caa8ee3bd882 | 166 | |
megrootens | 0:caa8ee3bd882 | 167 | void robot::Start() |
megrootens | 0:caa8ee3bd882 | 168 | { |
megrootens | 0:caa8ee3bd882 | 169 | ui::serial.printf(" Setting current position as reference.\r\n"); |
megrootens | 0:caa8ee3bd882 | 170 | ref::SetPositionAsReference(); |
megrootens | 0:caa8ee3bd882 | 171 | |
megrootens | 0:caa8ee3bd882 | 172 | ui::serial.printf(" Resetting controllers.\r\n"); |
megrootens | 0:caa8ee3bd882 | 173 | c1.Reset(); |
megrootens | 0:caa8ee3bd882 | 174 | c2.Reset(); |
megrootens | 0:caa8ee3bd882 | 175 | |
megrootens | 0:caa8ee3bd882 | 176 | ui::serial.printf(" Starting motors.\r\n"); |
megrootens | 0:caa8ee3bd882 | 177 | m1.Start(); |
megrootens | 0:caa8ee3bd882 | 178 | m2.Start(); |
megrootens | 0:caa8ee3bd882 | 179 | } |
megrootens | 0:caa8ee3bd882 | 180 | |
megrootens | 0:caa8ee3bd882 | 181 | void robot::Stop() |
megrootens | 0:caa8ee3bd882 | 182 | { |
megrootens | 0:caa8ee3bd882 | 183 | ui::serial.printf(" Stopping motors.\r\n"); |
megrootens | 0:caa8ee3bd882 | 184 | m1.Stop(); |
megrootens | 0:caa8ee3bd882 | 185 | m2.Stop(); |
megrootens | 0:caa8ee3bd882 | 186 | } |
megrootens | 0:caa8ee3bd882 | 187 | |
megrootens | 0:caa8ee3bd882 | 188 | void robot::ControlLoop() |
megrootens | 0:caa8ee3bd882 | 189 | { |
megrootens | 0:caa8ee3bd882 | 190 | m1.set_pwm(c1.Update( ref::theta_1 - get_angle(1) )); |
megrootens | 0:caa8ee3bd882 | 191 | m2.set_pwm(c2.Update( ref::theta_2 - get_angle(2) )); |
megrootens | 0:caa8ee3bd882 | 192 | } |
megrootens | 0:caa8ee3bd882 | 193 | |
megrootens | 0:caa8ee3bd882 | 194 | void robot::SetCalibrationAngles() |
megrootens | 0:caa8ee3bd882 | 195 | { |
megrootens | 0:caa8ee3bd882 | 196 | m1.set_angle(kCalibAngleMotor1); |
megrootens | 0:caa8ee3bd882 | 197 | m2.set_angle(kCalibAngleMotor2); |
megrootens | 0:caa8ee3bd882 | 198 | is_calibrated = true; |
megrootens | 0:caa8ee3bd882 | 199 | } |
megrootens | 0:caa8ee3bd882 | 200 | |
megrootens | 0:caa8ee3bd882 | 201 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 202 | // Reference implementation |
megrootens | 0:caa8ee3bd882 | 203 | // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = |
megrootens | 0:caa8ee3bd882 | 204 | |
megrootens | 0:caa8ee3bd882 | 205 | double ref::get_ref_x() |
megrootens | 0:caa8ee3bd882 | 206 | { |
megrootens | 0:caa8ee3bd882 | 207 | return robot::ForwardKinematicsX(theta_1,theta_2); |
megrootens | 0:caa8ee3bd882 | 208 | } |
megrootens | 0:caa8ee3bd882 | 209 | |
megrootens | 0:caa8ee3bd882 | 210 | double ref::get_ref_y() |
megrootens | 0:caa8ee3bd882 | 211 | { |
megrootens | 0:caa8ee3bd882 | 212 | return robot::ForwardKinematicsY(theta_1,theta_2); |
megrootens | 0:caa8ee3bd882 | 213 | } |
megrootens | 0:caa8ee3bd882 | 214 | |
megrootens | 0:caa8ee3bd882 | 215 | void ref::UpdateReference() |
megrootens | 0:caa8ee3bd882 | 216 | { |
megrootens | 0:caa8ee3bd882 | 217 | switch(robot::state) { |
megrootens | 0:caa8ee3bd882 | 218 | case robot::CALIBRATION: |
megrootens | 0:caa8ee3bd882 | 219 | CalibrationReference(); |
megrootens | 0:caa8ee3bd882 | 220 | break; |
megrootens | 0:caa8ee3bd882 | 221 | case robot::HOMING: |
megrootens | 0:caa8ee3bd882 | 222 | HomingReference(); |
megrootens | 0:caa8ee3bd882 | 223 | break; |
megrootens | 0:caa8ee3bd882 | 224 | case robot::DEMO: |
megrootens | 0:caa8ee3bd882 | 225 | DemoReference(); |
megrootens | 0:caa8ee3bd882 | 226 | break; |
megrootens | 0:caa8ee3bd882 | 227 | } |
megrootens | 0:caa8ee3bd882 | 228 | } |
megrootens | 0:caa8ee3bd882 | 229 | |
megrootens | 0:caa8ee3bd882 | 230 | void ref::CalibrationReference() |
megrootens | 0:caa8ee3bd882 | 231 | { |
megrootens | 0:caa8ee3bd882 | 232 | // Calibration process |
megrootens | 0:caa8ee3bd882 | 233 | bool is_ready_1 = (theta_1 - robot::get_angle(1) > kCalibrationError); |
megrootens | 0:caa8ee3bd882 | 234 | bool is_ready_2 = (theta_2 - robot::get_angle(2) > kCalibrationError); |
megrootens | 0:caa8ee3bd882 | 235 | |
megrootens | 0:caa8ee3bd882 | 236 | if (is_ready_1) { |
megrootens | 0:caa8ee3bd882 | 237 | robot::m1.Stop(); |
megrootens | 0:caa8ee3bd882 | 238 | } else { |
megrootens | 0:caa8ee3bd882 | 239 | theta_1 += kCalibrationOmegaStep; |
megrootens | 0:caa8ee3bd882 | 240 | } |
megrootens | 0:caa8ee3bd882 | 241 | |
megrootens | 0:caa8ee3bd882 | 242 | if (is_ready_2) { |
megrootens | 0:caa8ee3bd882 | 243 | robot::m2.Stop(); |
megrootens | 0:caa8ee3bd882 | 244 | } else { |
megrootens | 0:caa8ee3bd882 | 245 | theta_2 += kCalibrationOmegaStep; |
megrootens | 0:caa8ee3bd882 | 246 | } |
megrootens | 0:caa8ee3bd882 | 247 | |
megrootens | 0:caa8ee3bd882 | 248 | if (is_ready_1 & is_ready_2) { |
megrootens | 0:caa8ee3bd882 | 249 | robot::Stop(); |
megrootens | 0:caa8ee3bd882 | 250 | ui::serial.printf("+ Both motors at end-stop.\r\n"); |
megrootens | 0:caa8ee3bd882 | 251 | robot::SetCalibrationAngles(); |
megrootens | 0:caa8ee3bd882 | 252 | robot::GoToNextState(); |
megrootens | 0:caa8ee3bd882 | 253 | } |
megrootens | 0:caa8ee3bd882 | 254 | } |
megrootens | 0:caa8ee3bd882 | 255 | |
megrootens | 0:caa8ee3bd882 | 256 | void ref::HomingReference() |
megrootens | 0:caa8ee3bd882 | 257 | { |
megrootens | 0:caa8ee3bd882 | 258 | double dist_1 = kOriginTheta1 - theta_1; |
megrootens | 0:caa8ee3bd882 | 259 | |
megrootens | 0:caa8ee3bd882 | 260 | if (abs(dist_1)<=kCalibrationOmegaStep) { |
megrootens | 0:caa8ee3bd882 | 261 | // motor 1 ready |
megrootens | 0:caa8ee3bd882 | 262 | theta_1 = kOriginTheta1; |
megrootens | 0:caa8ee3bd882 | 263 | |
megrootens | 0:caa8ee3bd882 | 264 | double dist_2 = kOriginTheta2 - theta_2; |
megrootens | 0:caa8ee3bd882 | 265 | |
megrootens | 0:caa8ee3bd882 | 266 | if (abs(dist_2)<=kCalibrationOmegaStep) { |
megrootens | 0:caa8ee3bd882 | 267 | // motor 2 also ready |
megrootens | 0:caa8ee3bd882 | 268 | theta_2 = kOriginTheta2; |
megrootens | 0:caa8ee3bd882 | 269 | |
megrootens | 0:caa8ee3bd882 | 270 | ui::serial.printf(" Robot at home position.\r\n"); |
megrootens | 0:caa8ee3bd882 | 271 | robot::GoToNextState(); |
megrootens | 0:caa8ee3bd882 | 272 | } else { |
megrootens | 0:caa8ee3bd882 | 273 | // motor 2 still to move |
megrootens | 0:caa8ee3bd882 | 274 | theta_2 += dist_2 / abs(dist_2) * kCalibrationOmegaStep; |
megrootens | 0:caa8ee3bd882 | 275 | } |
megrootens | 0:caa8ee3bd882 | 276 | |
megrootens | 0:caa8ee3bd882 | 277 | |
megrootens | 0:caa8ee3bd882 | 278 | } else { |
megrootens | 0:caa8ee3bd882 | 279 | // motor 1 still to move |
megrootens | 0:caa8ee3bd882 | 280 | theta_1 += dist_1 / abs(dist_1) * kCalibrationOmegaStep; |
megrootens | 0:caa8ee3bd882 | 281 | } |
megrootens | 0:caa8ee3bd882 | 282 | |
megrootens | 0:caa8ee3bd882 | 283 | |
megrootens | 0:caa8ee3bd882 | 284 | } |
megrootens | 0:caa8ee3bd882 | 285 | |
megrootens | 0:caa8ee3bd882 | 286 | void ref::DemoReference() |
megrootens | 0:caa8ee3bd882 | 287 | { |
megrootens | 0:caa8ee3bd882 | 288 | double x = robot::ForwardKinematicsX(theta_1,theta_2); |
megrootens | 0:caa8ee3bd882 | 289 | double y = robot::ForwardKinematicsY(theta_1,theta_2); |
megrootens | 0:caa8ee3bd882 | 290 | |
megrootens | 0:caa8ee3bd882 | 291 | double x_goal = kDemoCoords[0][i_demo_coord]; |
megrootens | 0:caa8ee3bd882 | 292 | double y_goal = kDemoCoords[1][i_demo_coord]; |
megrootens | 0:caa8ee3bd882 | 293 | |
megrootens | 0:caa8ee3bd882 | 294 | double delta_x = x_goal - x; |
megrootens | 0:caa8ee3bd882 | 295 | double delta_y = y_goal - y; |
megrootens | 0:caa8ee3bd882 | 296 | |
megrootens | 0:caa8ee3bd882 | 297 | double dist = sqrt(pow(delta_x,2) + pow(delta_y,2)); |
megrootens | 0:caa8ee3bd882 | 298 | |
megrootens | 0:caa8ee3bd882 | 299 | double x_new = x; |
megrootens | 0:caa8ee3bd882 | 300 | double y_new = y; |
megrootens | 0:caa8ee3bd882 | 301 | |
megrootens | 0:caa8ee3bd882 | 302 | if (dist<kMaxStep) { |
megrootens | 0:caa8ee3bd882 | 303 | x_new = x_goal; |
megrootens | 0:caa8ee3bd882 | 304 | y_new = y_goal; |
megrootens | 0:caa8ee3bd882 | 305 | |
megrootens | 0:caa8ee3bd882 | 306 | ui::serial.printf(" Reached Demo Coord %d\r\n",i_demo_coord); |
megrootens | 0:caa8ee3bd882 | 307 | i_demo_coord = ++i_demo_coord % kNumDemoCoords; |
megrootens | 0:caa8ee3bd882 | 308 | |
megrootens | 0:caa8ee3bd882 | 309 | if (i_demo_coord == 0) { |
megrootens | 0:caa8ee3bd882 | 310 | robot::is_calibrated = false; |
megrootens | 0:caa8ee3bd882 | 311 | robot::SwitchState(robot::CALIBRATION); |
megrootens | 0:caa8ee3bd882 | 312 | } |
megrootens | 0:caa8ee3bd882 | 313 | } else { |
megrootens | 0:caa8ee3bd882 | 314 | x_new += delta_x / dist * kMaxStep; |
megrootens | 0:caa8ee3bd882 | 315 | y_new += delta_y / dist * kMaxStep; |
megrootens | 0:caa8ee3bd882 | 316 | } |
megrootens | 0:caa8ee3bd882 | 317 | |
megrootens | 0:caa8ee3bd882 | 318 | theta_1 = robot::InverseKinematicsTheta(x_new, y_new, 1); |
megrootens | 0:caa8ee3bd882 | 319 | theta_2 = robot::InverseKinematicsTheta(x_new, y_new, 2); |
megrootens | 0:caa8ee3bd882 | 320 | |
megrootens | 0:caa8ee3bd882 | 321 | |
megrootens | 0:caa8ee3bd882 | 322 | } |
megrootens | 0:caa8ee3bd882 | 323 | |
megrootens | 0:caa8ee3bd882 | 324 | void ref::SetPositionAsReference() |
megrootens | 0:caa8ee3bd882 | 325 | { |
megrootens | 0:caa8ee3bd882 | 326 | ref::theta_1 = robot::get_angle(1); |
megrootens | 0:caa8ee3bd882 | 327 | ref::theta_2 = robot::get_angle(2); |
megrootens | 0:caa8ee3bd882 | 328 | } |