Corrected header file include guards.
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
main.cpp@5:498c9bfc56f0, 2015-02-25 (annotated)
- Committer:
- cashdollar
- Date:
- Wed Feb 25 19:23:41 2015 +0000
- Revision:
- 5:498c9bfc56f0
- Parent:
- 3:9719ad064a2c
- Child:
- 6:ff3677c61389
Added safety checks. Safety checks include: 1. both encoders: range, parity, flag 2.both knees: status 3. IMU whoamI. Safety is checked every control cycle and send to dataBed.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
perr1940 | 0:d38d627c922f | 1 | /************************************** |
perr1940 | 0:d38d627c922f | 2 | This is the main file for the "RyanEXO" control software. |
perr1940 | 0:d38d627c922f | 3 | This sets up the main control loop that operates at a 1kHz frequency |
perr1940 | 0:d38d627c922f | 4 | and controls the flow of the rest of the software |
perr1940 | 0:d38d627c922f | 5 | |
perr1940 | 0:d38d627c922f | 6 | The configuration for the exo system that this software runs: |
perr1940 | 0:d38d627c922f | 7 | amplifiers: 2 Copley Controls 10A digital amplifiers |
perr1940 | 0:d38d627c922f | 8 | sensors: 2 Austria Microsystems 12 bit magnetic encoders, handled by encoders.h |
perr1940 | 0:d38d627c922f | 9 | motors: 2 maxon EC90 DC brushless motors, handled by HipMotorControl.h (called in FSM.h) |
perr1940 | 0:d38d627c922f | 10 | Knees: wrap spring clutch controlled by Firgelli PQ12P linear actuators, controlled in linearActuatorControl.h |
cashdollar | 3:9719ad064a2c | 11 | **************************************/ |
perr1940 | 0:d38d627c922f | 12 | |
perr1940 | 0:d38d627c922f | 13 | #include "mbed.h" |
perr1940 | 0:d38d627c922f | 14 | #include "initExoVars.h" |
perr1940 | 0:d38d627c922f | 15 | #include "FSM.h" |
perr1940 | 2:89b78367d173 | 16 | #include "dataBedComm.h" |
perr1940 | 2:89b78367d173 | 17 | int dataIn[4]; |
perr1940 | 2:89b78367d173 | 18 | int dataOut[]={0xFF,30,31,0xFE}; |
cashdollar | 3:9719ad064a2c | 19 | |
perr1940 | 0:d38d627c922f | 20 | /////////////////////////////////////////////////////////////////////////// |
cashdollar | 3:9719ad064a2c | 21 | |
cashdollar | 3:9719ad064a2c | 22 | // periodicFcns runs at the start of every control loop cycle |
cashdollar | 3:9719ad064a2c | 23 | // It initiates communication with dataBed, checks for errors/safety, and starts the FSM |
perr1940 | 0:d38d627c922f | 24 | void periodicFcns() |
perr1940 | 0:d38d627c922f | 25 | { |
perr1940 | 2:89b78367d173 | 26 | dataOut[1]=encoder_L.readRaw(); |
cashdollar | 5:498c9bfc56f0 | 27 | dataOut[2]=fsm.error(); |
perr1940 | 2:89b78367d173 | 28 | int* ptr=dataIn; |
perr1940 | 2:89b78367d173 | 29 | ptr=sendData(dataOut, 4, dataIn); |
cashdollar | 5:498c9bfc56f0 | 30 | |
cashdollar | 3:9719ad064a2c | 31 | |
cashdollar | 5:498c9bfc56f0 | 32 | pc.printf("%d, %d, %d, %d,", dataIn[0], dataIn[1], dataIn[2], dataIn[3]); |
cashdollar | 3:9719ad064a2c | 33 | |
cashdollar | 3:9719ad064a2c | 34 | // Run state change/analysis in FSM |
perr1940 | 0:d38d627c922f | 35 | int exoState=fsm.state(dataIn[1]); |
cashdollar | 3:9719ad064a2c | 36 | |
perr1940 | 0:d38d627c922f | 37 | } |
perr1940 | 0:d38d627c922f | 38 | |
perr1940 | 0:d38d627c922f | 39 | int main() |
perr1940 | 0:d38d627c922f | 40 | { |
cashdollar | 5:498c9bfc56f0 | 41 | pc.printf("\r\nExoStart \r\n"); |
perr1940 | 0:d38d627c922f | 42 | initializeExoIOs(); |
cashdollar | 5:498c9bfc56f0 | 43 | pc.printf("Test\r\n"); // keep for debugging compile errors |
perr1940 | 2:89b78367d173 | 44 | |
perr1940 | 0:d38d627c922f | 45 | pc.printf("Starting exo...\n\r"); |
cashdollar | 5:498c9bfc56f0 | 46 | |
perr1940 | 0:d38d627c922f | 47 | //If desired, a startup sound can be played. This function is defined in the DatabedCode, because it will command a sound to be played once it detects a heartbeat from ControlBed |
perr1940 | 0:d38d627c922f | 48 | wait(2); |
cashdollar | 5:498c9bfc56f0 | 49 | |
perr1940 | 0:d38d627c922f | 50 | Ticker doControl; |
perr1940 | 0:d38d627c922f | 51 | dataBedSPI.format(8,1); |
perr1940 | 0:d38d627c922f | 52 | doControl.attach(&periodicFcns, SAMPLE_TIME); |
perr1940 | 0:d38d627c922f | 53 | |
perr1940 | 0:d38d627c922f | 54 | while (1); |
perr1940 | 0:d38d627c922f | 55 | } |