Code to let Gr20's BioRobotics2017 robot come to live.
Dependencies: FastPWM MODSERIAL QEI mbed
ref.h@2:df0c6af898ac, 2017-11-12 (annotated)
- Committer:
- megrootens
- Date:
- Sun Nov 12 14:06:23 2017 +0000
- Revision:
- 2:df0c6af898ac
- Parent:
- 0:caa8ee3bd882
- Child:
- 5:088917beb5e4
this works, only controller needs to be updated since I broke the moving average filtered one....;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
megrootens | 0:caa8ee3bd882 | 1 | /** |
megrootens | 0:caa8ee3bd882 | 2 | * Reference signals |
megrootens | 2:df0c6af898ac | 3 | * __note that currently no safety limits are implemented__ |
megrootens | 2:df0c6af898ac | 4 | * simply use the min/max x&y values as a check |
megrootens | 2:df0c6af898ac | 5 | * |
megrootens | 2:df0c6af898ac | 6 | * Implementation can be found in main.cpp |
megrootens | 0:caa8ee3bd882 | 7 | */ |
megrootens | 0:caa8ee3bd882 | 8 | namespace ref |
megrootens | 0:caa8ee3bd882 | 9 | { |
megrootens | 2:df0c6af898ac | 10 | // Sample time for reference signals |
megrootens | 0:caa8ee3bd882 | 11 | const double kSampleTime = 0.01; |
megrootens | 2:df0c6af898ac | 12 | |
megrootens | 2:df0c6af898ac | 13 | /** |
megrootens | 2:df0c6af898ac | 14 | * Allowed range of motion and linear speed |
megrootens | 2:df0c6af898ac | 15 | */ |
megrootens | 2:df0c6af898ac | 16 | const double kMinX = 0.280; // [m] |
megrootens | 2:df0c6af898ac | 17 | const double kMaxX = 0.560; // [m] |
megrootens | 2:df0c6af898ac | 18 | |
megrootens | 2:df0c6af898ac | 19 | const double kMinY = -0.140; // [m] |
megrootens | 2:df0c6af898ac | 20 | const double kMaxY = 0.170; // [m] |
megrootens | 0:caa8ee3bd882 | 21 | |
megrootens | 2:df0c6af898ac | 22 | const double kMaxSpeed = 0.05; // [m/s] |
megrootens | 2:df0c6af898ac | 23 | const double kMaxStep = kMaxSpeed*kSampleTime; // [m] |
megrootens | 0:caa8ee3bd882 | 24 | |
megrootens | 2:df0c6af898ac | 25 | /** |
megrootens | 2:df0c6af898ac | 26 | * Calibration motion; |
megrootens | 2:df0c6af898ac | 27 | */ |
megrootens | 2:df0c6af898ac | 28 | const double kCalibrationOmega = 20; // [deg/sec] |
megrootens | 2:df0c6af898ac | 29 | const double kCalibrationError = 1; // [deg] |
megrootens | 2:df0c6af898ac | 30 | const double kCalibrationOmegaStep = kCalibrationOmega*kSampleTime; // [deg] |
megrootens | 0:caa8ee3bd882 | 31 | |
megrootens | 2:df0c6af898ac | 32 | |
megrootens | 2:df0c6af898ac | 33 | /** |
megrootens | 2:df0c6af898ac | 34 | * Home angles |
megrootens | 2:df0c6af898ac | 35 | */ |
megrootens | 2:df0c6af898ac | 36 | const double kOriginTheta1 = robot::InverseKinematicsTheta(kMinX,kMinY,1);//[deg] |
megrootens | 0:caa8ee3bd882 | 37 | const double kOriginTheta2 = robot::InverseKinematicsTheta(kMinX,kMinY,2); |
megrootens | 0:caa8ee3bd882 | 38 | |
megrootens | 2:df0c6af898ac | 39 | /** |
megrootens | 2:df0c6af898ac | 40 | * Demo coordinates for linear movement between points |
megrootens | 2:df0c6af898ac | 41 | */ |
megrootens | 0:caa8ee3bd882 | 42 | int i_demo_coord = 0; |
megrootens | 0:caa8ee3bd882 | 43 | const int kNumDemoCoords = 9; |
megrootens | 0:caa8ee3bd882 | 44 | const double kDemoCoords[2][kNumDemoCoords] { |
megrootens | 0:caa8ee3bd882 | 45 | {kMinX, kMaxX, kMaxX, kMinX, kMinX, kMaxX, kMaxX, kMinX, kMinX}, |
megrootens | 0:caa8ee3bd882 | 46 | {kMinY, kMinY, kMaxY, kMaxY, kMinY, kMaxY, kMinY, kMaxY, kMaxY} |
megrootens | 2:df0c6af898ac | 47 | }; |
megrootens | 0:caa8ee3bd882 | 48 | |
megrootens | 2:df0c6af898ac | 49 | /** |
megrootens | 2:df0c6af898ac | 50 | * Current reference signal; motor angles and (x,y) through forward kinematics |
megrootens | 2:df0c6af898ac | 51 | */ |
megrootens | 0:caa8ee3bd882 | 52 | double theta_1 = 0; |
megrootens | 0:caa8ee3bd882 | 53 | double theta_2 = 0; |
megrootens | 0:caa8ee3bd882 | 54 | |
megrootens | 0:caa8ee3bd882 | 55 | double get_ref_x(); |
megrootens | 0:caa8ee3bd882 | 56 | double get_ref_y(); |
megrootens | 0:caa8ee3bd882 | 57 | |
megrootens | 0:caa8ee3bd882 | 58 | void SetPositionAsReference(); |
megrootens | 0:caa8ee3bd882 | 59 | |
megrootens | 2:df0c6af898ac | 60 | /** |
megrootens | 2:df0c6af898ac | 61 | * Reference signal generation functions |
megrootens | 2:df0c6af898ac | 62 | */ |
megrootens | 0:caa8ee3bd882 | 63 | void UpdateReference(); |
megrootens | 0:caa8ee3bd882 | 64 | |
megrootens | 0:caa8ee3bd882 | 65 | void CalibrationReference(); |
megrootens | 0:caa8ee3bd882 | 66 | void HomingReference(); |
megrootens | 0:caa8ee3bd882 | 67 | void DemoReference(); |
megrootens | 2:df0c6af898ac | 68 | } |