Nathaniel Honka / Mbed 2 deprecated Motion-Control

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Dependencies:   FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver

Fork of Motion Control by HEL's Angels

initExoVars/initExoVars.h@25:1292b886b8d2, 2015-05-11 (annotated)

Committer:
mzling
Date:
Mon May 11 21:47:16 2015 +0000
Revision:
25:1292b886b8d2
Parent:
20:cf8e99d989a6
Child:
26:c4372c518ac3
Added gait gen. setters/getters, and dummy declaration of MMgait (so code compiles)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:d38d627c922f 1
perr1940 0:d38d627c922f 2
perr1940 0:d38d627c922f 3 #ifndef INIT_H
perr1940 0:d38d627c922f 4 #define INIT_H
perr1940 0:d38d627c922f 5
perr1940 0:d38d627c922f 6 #include "mbed.h"
perr1940 0:d38d627c922f 7 #include "Encoder.h"
perr1940 0:d38d627c922f 8 #include "HipControl.h"
perr1940 0:d38d627c922f 9 #include "knee.h"
perr1940 0:d38d627c922f 10 #include "FSM.h"
perr1940 0:d38d627c922f 11 #define PI (3.141592653589793)
perr1940 0:d38d627c922f 12
perr1940 0:d38d627c922f 13 //#define SAMPLE_TIME .005
perr1940 0:d38d627c922f 14 #define SAMPLE_TIME .001
perr1940 0:d38d627c922f 15 #define TO_RAD(x) (x * 0.01745329252) // *pi/180
perr1940 0:d38d627c922f 16
mzling 25:1292b886b8d2 17
mzling 25:1292b886b8d2 18 struct MMgait_t {
mzling 25:1292b886b8d2 19 int time_steps; //number of time steps per step
mzling 25:1292b886b8d2 20 float peak_time; //time of peak hip angle
mzling 25:1292b886b8d2 21 float walking_angle; //double stance hip angle
mzling 25:1292b886b8d2 22 float end_angle; //hip angle at the end of step
mzling 25:1292b886b8d2 23 float max_angle; //max hip flexion
mzling 25:1292b886b8d2 24 } ;
perr1940 0:d38d627c922f 25 /********************************
perr1940 0:d38d627c922f 26 * Initializing various I/O pins!
perr1940 0:d38d627c922f 27 ********************************/
perr1940 0:d38d627c922f 28 extern DigitalOut mbedLED1;
perr1940 0:d38d627c922f 29 extern DigitalOut mbedLED2;
perr1940 0:d38d627c922f 30 extern DigitalOut mbedLED3;
perr1940 0:d38d627c922f 31 extern DigitalOut motorLED;
perr1940 0:d38d627c922f 32
perr1940 0:d38d627c922f 33 extern SPI dataBedSPI; // mosi, miso, sclk
perr1940 0:d38d627c922f 34 extern DigitalOut DB_cs;
perr1940 0:d38d627c922f 35 extern SPI IMUspi;
perr1940 0:d38d627c922f 36 extern DigitalOut IMUcs;
perr1940 0:d38d627c922f 37 extern Serial pc;
perr1940 0:d38d627c922f 38
perr1940 0:d38d627c922f 39 // Setup stuff
perr1940 0:d38d627c922f 40 // absolutes
perr1940 0:d38d627c922f 41 //extern SPI encoder_L;
perr1940 0:d38d627c922f 42 //extern DigitalOut encoder_cs_L;
perr1940 0:d38d627c922f 43 //extern SPI encoder_R;
perr1940 0:d38d627c922f 44 //extern DigitalOut encoder_cs_R;
perr1940 0:d38d627c922f 45 extern Encoder encoder_L;
perr1940 0:d38d627c922f 46 extern Encoder encoder_R;
perr1940 0:d38d627c922f 47
perr1940 0:d38d627c922f 48 // Incremental Indexes (only for homing!)
perr1940 0:d38d627c922f 49 extern InterruptIn encIdx_R;
perr1940 0:d38d627c922f 50 extern InterruptIn encIdx_L;
perr1940 0:d38d627c922f 51
perr1940 0:d38d627c922f 52 // Right Leg
perr1940 0:d38d627c922f 53 extern PwmOut pwmpin_R;
perr1940 0:d38d627c922f 54 extern DigitalOut dirpin_R;
perr1940 0:d38d627c922f 55
perr1940 0:d38d627c922f 56 //Left Leg
perr1940 0:d38d627c922f 57 //extern PwmOut pwmpin_L;
perr1940 0:d38d627c922f 58 //extern DigitalOut dirpin_L;
perr1940 0:d38d627c922f 59 extern HipControl hip_L;
perr1940 0:d38d627c922f 60 extern HipControl hip_R;
perr1940 0:d38d627c922f 61 extern Knee knee_L;
perr1940 0:d38d627c922f 62 extern Knee knee_R;
perr1940 0:d38d627c922f 63
perr1940 0:d38d627c922f 64 extern FSM fsm;
perr1940 0:d38d627c922f 65
mzling 25:1292b886b8d2 66 extern struct MMgait_t MMgait;
mzling 25:1292b886b8d2 67
perr1940 0:d38d627c922f 68
perr1940 0:d38d627c922f 69 /*******************************
perr1940 0:d38d627c922f 70 * END OF I/O Initialization
perr1940 0:d38d627c922f 71 *******************************/
perr1940 0:d38d627c922f 72
perr1940 0:d38d627c922f 73 /*******************************
perr1940 0:d38d627c922f 74 * GLOBAL VARS
perr1940 0:d38d627c922f 75 *******************************/
perr1940 0:d38d627c922f 76
perr1940 0:d38d627c922f 77 // Global Timers!
perr1940 0:d38d627c922f 78 extern Timer sysClk; // system clock (primarily for datalogging)
perr1940 0:d38d627c922f 79 extern Timer tState; // time in FSM state
perr1940 0:d38d627c922f 80 extern Timer t_HCl; // time when high current begins
perr1940 0:d38d627c922f 81 extern Timer t_HCr;
perr1940 0:d38d627c922f 82 extern Timer t_BetweenStepCommand;
perr1940 0:d38d627c922f 83
perr1940 0:d38d627c922f 84 const unsigned int enc_ticks=pow(2.,14.)-1; //the number of ticks that the encoder has, 2^14 for our encoder, -1 for 0 state
perr1940 0:d38d627c922f 85 const float enc2deg = 360./enc_ticks; // converts encoder reading from 0-16383 (14 bit) to 0-360deg (360 / 16383);
perr1940 0:d38d627c922f 86 const float control_lim_high=90; //soft stop on the controller
perr1940 0:d38d627c922f 87 const float control_lim_low=-55;//soft stop on the controller
perr1940 0:d38d627c922f 88 extern float TimeSinceLastStep;
perr1940 0:d38d627c922f 89
perr1940 0:d38d627c922f 90 //Control Variables
perr1940 0:d38d627c922f 91 // Control variables
perr1940 0:d38d627c922f 92 // Gain Scheduling!
perr1940 0:d38d627c922f 93 extern const float Kp_Swing;
perr1940 0:d38d627c922f 94 extern const float Kp_Stance;
perr1940 0:d38d627c922f 95 extern const float Kp_DoubleStance;//.01;
perr1940 0:d38d627c922f 96 extern const float Kp_Standing;//.01; //0.0025
perr1940 0:d38d627c922f 97 extern const float Kp_StandUp;
perr1940 0:d38d627c922f 98 extern const float Kp_SitDown ;
perr1940 0:d38d627c922f 99 extern const float Kp_Seated;
perr1940 0:d38d627c922f 100
perr1940 0:d38d627c922f 101 extern const float Kp;
perr1940 0:d38d627c922f 102 extern const float Kd;
perr1940 0:d38d627c922f 103 extern const float sat;
perr1940 0:d38d627c922f 104 extern const float Kp_mag;
perr1940 0:d38d627c922f 105 extern const float Kp_freq;
perr1940 0:d38d627c922f 106 extern const float Kp_offset;
mzling 19:70b2124c7370 107 extern float stand_adjust;
mzling 20:cf8e99d989a6 108 extern const float zero_ang_L;
mzling 20:cf8e99d989a6 109 extern const float zero_ang_R;
perr1940 0:d38d627c922f 110
perr1940 0:d38d627c922f 111 #endif
perr1940 0:d38d627c922f 112
perr1940 0:d38d627c922f 113 extern void initializeExoIOs();