Corrected header file include guards.
Fork of initExoVars by
initExoVars.cpp@9:6cf157a6d58b, 2015-06-29 (annotated)
- Committer:
- perr1940
- Date:
- Mon Jun 29 21:20:35 2015 +0000
- Revision:
- 9:6cf157a6d58b
- Parent:
- 8:ae167702ebcc
- Child:
- 10:29955bf36492
changed stand_adjust to start at 10
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
perr1940 | 0:cd5ad8e47eb8 | 1 | #include "mbed.h" |
perr1940 | 0:cd5ad8e47eb8 | 2 | #include "Encoder.h" |
perr1940 | 0:cd5ad8e47eb8 | 3 | #include "initExoVars.h" |
perr1940 | 0:cd5ad8e47eb8 | 4 | #include "HipControl.h" |
perr1940 | 0:cd5ad8e47eb8 | 5 | #include "knee.h" |
perr1940 | 0:cd5ad8e47eb8 | 6 | #include "FSM.h" |
perr1940 | 0:cd5ad8e47eb8 | 7 | //#include "MM_gait.h" |
perr1940 | 0:cd5ad8e47eb8 | 8 | //#include "constants.h" |
perr1940 | 0:cd5ad8e47eb8 | 9 | |
perr1940 | 0:cd5ad8e47eb8 | 10 | /******************************** |
perr1940 | 0:cd5ad8e47eb8 | 11 | * Initializing various I/O pins! |
perr1940 | 0:cd5ad8e47eb8 | 12 | ********************************/ |
perr1940 | 0:cd5ad8e47eb8 | 13 | DigitalOut mbedLED1(LED1); |
perr1940 | 0:cd5ad8e47eb8 | 14 | DigitalOut mbedLED2(LED2); |
perr1940 | 0:cd5ad8e47eb8 | 15 | DigitalOut mbedLED3(LED3); |
perr1940 | 0:cd5ad8e47eb8 | 16 | DigitalOut motorLED(LED4); |
perr1940 | 0:cd5ad8e47eb8 | 17 | |
perr1940 | 0:cd5ad8e47eb8 | 18 | SPI dataBedSPI(p11, p12, p13); // mosi, miso, sclk |
perr1940 | 0:cd5ad8e47eb8 | 19 | DigitalOut DB_cs(p14); |
perr1940 | 0:cd5ad8e47eb8 | 20 | |
perr1940 | 0:cd5ad8e47eb8 | 21 | Serial pc(USBTX, USBRX); |
perr1940 | 0:cd5ad8e47eb8 | 22 | //StepperDriver Stepper(p18,p5,p6,p7); |
perr1940 | 0:cd5ad8e47eb8 | 23 | |
perr1940 | 0:cd5ad8e47eb8 | 24 | // Setup stuff |
perr1940 | 0:cd5ad8e47eb8 | 25 | // absolutes |
perr1940 | 0:cd5ad8e47eb8 | 26 | Encoder encoder_L(p5,p6,p7,p30);//MOSI,MISO,SCLK,SS |
perr1940 | 0:cd5ad8e47eb8 | 27 | Encoder encoder_R(p5,p6,p7,p29); |
perr1940 | 0:cd5ad8e47eb8 | 28 | HipControl hip_L(p23,p24); |
perr1940 | 0:cd5ad8e47eb8 | 29 | HipControl hip_R(p21,p22); |
perr1940 | 0:cd5ad8e47eb8 | 30 | //Knee knee_L(p18,p5,p6,p7); |
perr1940 | 0:cd5ad8e47eb8 | 31 | //Knee knee_R(p19,p5,p6,p7); |
perr1940 | 0:cd5ad8e47eb8 | 32 | Knee knee_L(p5,p6,p7,p18); |
perr1940 | 0:cd5ad8e47eb8 | 33 | Knee knee_R(p5,p6,p7,p19); |
perr1940 | 0:cd5ad8e47eb8 | 34 | |
perr1940 | 0:cd5ad8e47eb8 | 35 | FSM fsm; |
perr1940 | 0:cd5ad8e47eb8 | 36 | |
perr1940 | 0:cd5ad8e47eb8 | 37 | // Databed comm stuff |
perr1940 | 0:cd5ad8e47eb8 | 38 | Serial DB_serial(p9, p10); |
perr1940 | 0:cd5ad8e47eb8 | 39 | DigitalIn FeedDataDuino(p9); |
perr1940 | 0:cd5ad8e47eb8 | 40 | |
perr1940 | 0:cd5ad8e47eb8 | 41 | /******************************* |
perr1940 | 0:cd5ad8e47eb8 | 42 | * END OF I/O Initialization |
perr1940 | 0:cd5ad8e47eb8 | 43 | *******************************/ |
perr1940 | 0:cd5ad8e47eb8 | 44 | |
perr1940 | 0:cd5ad8e47eb8 | 45 | /******************************* |
perr1940 | 0:cd5ad8e47eb8 | 46 | * Global vars |
perr1940 | 0:cd5ad8e47eb8 | 47 | *******************************/ |
perr1940 | 0:cd5ad8e47eb8 | 48 | // global timers |
perr1940 | 0:cd5ad8e47eb8 | 49 | Timer sysClk; // system clock (primarily for datalogging) |
perr1940 | 0:cd5ad8e47eb8 | 50 | Timer tState; // time in FSM state |
perr1940 | 0:cd5ad8e47eb8 | 51 | Timer t_HCl; // time when high current begins |
perr1940 | 0:cd5ad8e47eb8 | 52 | Timer t_HCr; |
perr1940 | 0:cd5ad8e47eb8 | 53 | Timer t_BetweenStepCommand; |
perr1940 | 0:cd5ad8e47eb8 | 54 | |
perr1940 | 0:cd5ad8e47eb8 | 55 | //Control Variables |
perr1940 | 0:cd5ad8e47eb8 | 56 | // Control variables |
perr1940 | 0:cd5ad8e47eb8 | 57 | // Gain Scheduling! |
perr1940 | 5:fcd299262d0a | 58 | float Kp_Swing = .02; |
perr1940 | 5:fcd299262d0a | 59 | float Kp_Stance = .02; |
perr1940 | 0:cd5ad8e47eb8 | 60 | const float Kp_DoubleStance = .02;//.01; |
perr1940 | 0:cd5ad8e47eb8 | 61 | const float Kp_Standing = .02;//.01; //0.0025 |
perr1940 | 0:cd5ad8e47eb8 | 62 | const float Kp_StandUp = .01; |
perr1940 | 0:cd5ad8e47eb8 | 63 | const float Kp_SitDown = .01; |
perr1940 | 0:cd5ad8e47eb8 | 64 | const float Kp_Seated = .01; |
perr1940 | 8:ae167702ebcc | 65 | float Kd_Swing=0.002; |
perr1940 | 8:ae167702ebcc | 66 | float Kd_Stance=0.002; |
perr1940 | 0:cd5ad8e47eb8 | 67 | |
perr1940 | 0:cd5ad8e47eb8 | 68 | const float Kp=.04; |
perr1940 | 0:cd5ad8e47eb8 | 69 | const float Kp0=.001; |
perr1940 | 5:fcd299262d0a | 70 | float Kd=.002; |
perr1940 | 0:cd5ad8e47eb8 | 71 | const float sat=.2; |
perr1940 | 0:cd5ad8e47eb8 | 72 | const int blend_thresh=250; //samples before we switch to the true trajectory |
perr1940 | 0:cd5ad8e47eb8 | 73 | const float Kp_mag=(Kp0-Kp)/2; |
perr1940 | 0:cd5ad8e47eb8 | 74 | const float Kp_freq=PI/blend_thresh; |
perr1940 | 0:cd5ad8e47eb8 | 75 | const float Kp_offset=(Kp0+Kp)/2; |
perr1940 | 0:cd5ad8e47eb8 | 76 | |
perr1940 | 0:cd5ad8e47eb8 | 77 | float TimeSinceLastStep; |
perr1940 | 0:cd5ad8e47eb8 | 78 | //encoder setup |
perr1940 | 0:cd5ad8e47eb8 | 79 | //float stand_adjust= 10; //positive is more upright.Default 10 |
perr1940 | 0:cd5ad8e47eb8 | 80 | //const float zero_ang_L=220+10;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 81 | //const float zero_ang_R=40+10;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 82 | |
perr1940 | 0:cd5ad8e47eb8 | 83 | /** VERIFY THESE VALUES BEFORE RUNNING CODE ON EXO |
perr1940 | 0:cd5ad8e47eb8 | 84 | * USING ERRONEOUS OFFSETS MAY CAUSE PERMANENT DAMAGE!!! */ |
perr1940 | 0:cd5ad8e47eb8 | 85 | //const float zero_ang_L=223.83;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 86 | //const float zero_ang_R=-176.03;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 87 | //const float zero_ang_L=168.24;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 88 | //const float zero_ang_R=-128.12;//approximate point where the pilot should be standing straight |
perr1940 | 0:cd5ad8e47eb8 | 89 | |
perr1940 | 0:cd5ad8e47eb8 | 90 | //const float _enc_high=120; // Hard stop max accepable angle for encoder |
perr1940 | 0:cd5ad8e47eb8 | 91 | //const float _enc_low=-40; // Hard stop min accepable angle for encoder |
perr1940 | 0:cd5ad8e47eb8 | 92 | |
perr1940 | 0:cd5ad8e47eb8 | 93 | //PARAMETER ADJUSTMENT - Standing Angle |
perr1940 | 0:cd5ad8e47eb8 | 94 | //Steve = 10 |
perr1940 | 9:6cf157a6d58b | 95 | float stand_adjust=10; //positive is more upright//Steve=10 deg |
perr1940 | 0:cd5ad8e47eb8 | 96 | //Person 1 |
perr1940 | 0:cd5ad8e47eb8 | 97 | //const float stand_adjust=10; |
perr1940 | 0:cd5ad8e47eb8 | 98 | //Person 2 |
perr1940 | 0:cd5ad8e47eb8 | 99 | //const float stand_adjust=10; |
cashdollar | 2:650a015179b9 | 100 | |
perr1940 | 0:cd5ad8e47eb8 | 101 | //zero_enc_offset_X is the offset for a particular encoder. Must be tuned for an individual encoder based on assembly. |
perr1940 | 0:cd5ad8e47eb8 | 102 | // Offsets for Exo #1. These are related to individual encoder and should never be changed. |
perr1940 | 9:6cf157a6d58b | 103 | //float zero_enc_offset_L = 223.83; |
perr1940 | 0:cd5ad8e47eb8 | 104 | // zero_enc_offset_R should be negative |
perr1940 | 9:6cf157a6d58b | 105 | //float zero_enc_offset_R = -176.4; |
perr1940 | 9:6cf157a6d58b | 106 | //float bob_dole=-176.4; |
perr1940 | 5:fcd299262d0a | 107 | // Offsets for Test Rig |
perr1940 | 9:6cf157a6d58b | 108 | float zero_enc_offset_L = 205.24; |
perr1940 | 0:cd5ad8e47eb8 | 109 | // zero_enc_offset_R should be negative |
perr1940 | 9:6cf157a6d58b | 110 | float zero_enc_offset_R = -135.17; |
perr1940 | 9:6cf157a6d58b | 111 | float bob_dole=-135.17; |
cashdollar | 2:650a015179b9 | 112 | |
cashdollar | 2:650a015179b9 | 113 | |
perr1940 | 0:cd5ad8e47eb8 | 114 | //Offset for Test Rig |
cashdollar | 2:650a015179b9 | 115 | //const float zero_enc_offset_L = 205.24; |
perr1940 | 0:cd5ad8e47eb8 | 116 | // zero_enc_offset_R should be negative |
cashdollar | 2:650a015179b9 | 117 | //const float zero_enc_offset_R = -135.17; |
cashdollar | 2:650a015179b9 | 118 | |
cashdollar | 2:650a015179b9 | 119 | |
perr1940 | 0:cd5ad8e47eb8 | 120 | //zero_ang_X is the zero angle based on the mechanical assembly of the hip and the standing angle parameters of the individual user. |
cashdollar | 2:650a015179b9 | 121 | //const float zero_ang_L=zero_enc_offset_L+stand_adjust; |
cashdollar | 2:650a015179b9 | 122 | //const float zero_ang_R=zero_enc_offset_R+stand_adjust; |
cashdollar | 2:650a015179b9 | 123 | float zero_ang_L; |
cashdollar | 2:650a015179b9 | 124 | float zero_ang_R; |
cashdollar | 2:650a015179b9 | 125 | |
perr1940 | 0:cd5ad8e47eb8 | 126 | // Upper and lower limit on Encoder |
perr1940 | 0:cd5ad8e47eb8 | 127 | // TODO(Cashdollar): These may need to be tuned. Window is 160 deg but might not start at 120. |
perr1940 | 0:cd5ad8e47eb8 | 128 | const float _enc_high=122+stand_adjust; // Hard stop max accepable angle for encoder |
perr1940 | 0:cd5ad8e47eb8 | 129 | const float _enc_low=-38+stand_adjust; // Hard stop min accepable angle for encoder |
perr1940 | 0:cd5ad8e47eb8 | 130 | |
perr1940 | 0:cd5ad8e47eb8 | 131 | |
perr1940 | 0:cd5ad8e47eb8 | 132 | MMgait_t mm_gait_params; |
perr1940 | 9:6cf157a6d58b | 133 | Brad_poly_gait_t gait_params; |
perr1940 | 0:cd5ad8e47eb8 | 134 | //MMSwing swing(mm_gait_params); |
perr1940 | 0:cd5ad8e47eb8 | 135 | //MMStance stance(mm_gait_params); |
perr1940 | 9:6cf157a6d58b | 136 | //MMSwing swing; |
perr1940 | 9:6cf157a6d58b | 137 | //MMStance stance; |
perr1940 | 9:6cf157a6d58b | 138 | BradPolySwing swing; |
perr1940 | 9:6cf157a6d58b | 139 | BradPolyStance stance; |
cashdollar | 2:650a015179b9 | 140 | MMFSSwing fsSwing; |
cashdollar | 2:650a015179b9 | 141 | MMFSStance fsStance; |
cashdollar | 2:650a015179b9 | 142 | MMFTG ftgSwing; |
cashdollar | 2:650a015179b9 | 143 | MMFTG ftgStance; |
cashdollar | 4:bd8994714003 | 144 | LinearBlend blend_left; |
cashdollar | 4:bd8994714003 | 145 | LinearBlend blend_right; |
cashdollar | 2:650a015179b9 | 146 | |
cashdollar | 3:e910d4eb3a36 | 147 | /*void readCalib() |
cashdollar | 2:650a015179b9 | 148 | { |
cashdollar | 2:650a015179b9 | 149 | char A[10]; |
cashdollar | 2:650a015179b9 | 150 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
cashdollar | 2:650a015179b9 | 151 | FILE *set = fopen("/local/calib.txt", "r"); // Open "setup.txt" on the local file system for read |
cashdollar | 2:650a015179b9 | 152 | fscanf(set,"%s %f",A,&zero_enc_offset_L); // read offset |
cashdollar | 2:650a015179b9 | 153 | fscanf(set,"%s %f",A,&zero_enc_offset_R); // read offset |
cashdollar | 2:650a015179b9 | 154 | fclose(set); |
cashdollar | 2:650a015179b9 | 155 | wait(1); //TODO(Cashdollar): reduce this time after testing |
cashdollar | 3:e910d4eb3a36 | 156 | pc.printf("\r\nLeft Offset is: %f, \r\nRight Offset is: %f\r\n", zero_enc_offset_L, zero_enc_offset_R);//, zero_enc_offset_R); |
cashdollar | 3:e910d4eb3a36 | 157 | wait(1); //TODO(Cashdollar): Delete after testing, this is to make it easier to see what is happening |
cashdollar | 3:e910d4eb3a36 | 158 | }*/ |
perr1940 | 0:cd5ad8e47eb8 | 159 | |
perr1940 | 0:cd5ad8e47eb8 | 160 | void initializeExoIOs() |
perr1940 | 0:cd5ad8e47eb8 | 161 | { |
cashdollar | 4:bd8994714003 | 162 | pc.printf("\r\n entered initexoios"); |
perr1940 | 0:cd5ad8e47eb8 | 163 | // Putting various comm pins high |
perr1940 | 0:cd5ad8e47eb8 | 164 | DB_cs = 1; // Setting SPI CS pin high (so low selects the slave) |
cashdollar | 4:bd8994714003 | 165 | //pc.baud(921600); |
cashdollar | 3:e910d4eb3a36 | 166 | //pc.baud(921600); |
cashdollar | 3:e910d4eb3a36 | 167 | //readCalib(); |
cashdollar | 2:650a015179b9 | 168 | zero_ang_L=zero_enc_offset_L+stand_adjust; |
cashdollar | 2:650a015179b9 | 169 | zero_ang_R=zero_enc_offset_R+stand_adjust; |
cashdollar | 4:bd8994714003 | 170 | pc.printf("\r\nzero ang assigned"); |
perr1940 | 0:cd5ad8e47eb8 | 171 | |
perr1940 | 0:cd5ad8e47eb8 | 172 | // initialize both knees |
perr1940 | 0:cd5ad8e47eb8 | 173 | knee_L.init(); |
perr1940 | 0:cd5ad8e47eb8 | 174 | knee_R.init(); |
cashdollar | 3:e910d4eb3a36 | 175 | //Setting pwm frequencies to 20kHz |
cashdollar | 4:bd8994714003 | 176 | pc.printf("\r\n knees init"); |
perr1940 | 0:cd5ad8e47eb8 | 177 | |
perr1940 | 0:cd5ad8e47eb8 | 178 | hip_L.off(); |
perr1940 | 0:cd5ad8e47eb8 | 179 | hip_R.off(); |
perr1940 | 0:cd5ad8e47eb8 | 180 | hip_R.flip(); |
perr1940 | 0:cd5ad8e47eb8 | 181 | encoder_L.init(zero_ang_L); |
perr1940 | 0:cd5ad8e47eb8 | 182 | encoder_R.init(zero_ang_R); |
perr1940 | 0:cd5ad8e47eb8 | 183 | encoder_R.flip(); |
perr1940 | 0:cd5ad8e47eb8 | 184 | // display debugging info for both knees |
perr1940 | 0:cd5ad8e47eb8 | 185 | //knee_L.debug(); |
perr1940 | 0:cd5ad8e47eb8 | 186 | //knee_R.debug(); |
perr1940 | 0:cd5ad8e47eb8 | 187 | encoder_L.ranges(_enc_low, _enc_high); |
perr1940 | 0:cd5ad8e47eb8 | 188 | encoder_R.ranges(_enc_low, _enc_high); |
perr1940 | 0:cd5ad8e47eb8 | 189 | encoder_L.rangeCheck(); |
perr1940 | 0:cd5ad8e47eb8 | 190 | encoder_R.rangeCheck(); |
perr1940 | 0:cd5ad8e47eb8 | 191 | fsm.init(); |
perr1940 | 0:cd5ad8e47eb8 | 192 | pc.printf("Test2 \r\n"); |
perr1940 | 0:cd5ad8e47eb8 | 193 | |
perr1940 | 0:cd5ad8e47eb8 | 194 | |
perr1940 | 0:cd5ad8e47eb8 | 195 | dataBedSPI.frequency(10000000); |
perr1940 | 0:cd5ad8e47eb8 | 196 | |
perr1940 | 0:cd5ad8e47eb8 | 197 | |
perr1940 | 0:cd5ad8e47eb8 | 198 | mm_gait_params.time_steps=900; |
perr1940 | 0:cd5ad8e47eb8 | 199 | mm_gait_params.peak_time=416; |
perr1940 | 0:cd5ad8e47eb8 | 200 | mm_gait_params.stance_start=10; |
perr1940 | 0:cd5ad8e47eb8 | 201 | mm_gait_params.stance_end=-22; |
perr1940 | 0:cd5ad8e47eb8 | 202 | mm_gait_params.max_angle=30; |
cashdollar | 4:bd8994714003 | 203 | mm_gait_params.max_fs_angle=mm_gait_params.max_angle*1.16; |
perr1940 | 0:cd5ad8e47eb8 | 204 | |
perr1940 | 9:6cf157a6d58b | 205 | gait_params.time_steps=900; |
perr1940 | 9:6cf157a6d58b | 206 | gait_params.peak_time=416; |
perr1940 | 9:6cf157a6d58b | 207 | gait_params.stance_start=10; |
perr1940 | 9:6cf157a6d58b | 208 | gait_params.stance_end=-22; |
perr1940 | 9:6cf157a6d58b | 209 | gait_params.max_angle=30; |
perr1940 | 9:6cf157a6d58b | 210 | gait_params.max_fs_angle=mm_gait_params.max_angle*1.16; |
perr1940 | 9:6cf157a6d58b | 211 | |
perr1940 | 9:6cf157a6d58b | 212 | //swing.set(mm_gait_params); |
perr1940 | 9:6cf157a6d58b | 213 | //stance.set(mm_gait_params); |
perr1940 | 9:6cf157a6d58b | 214 | swing.set(gait_params); |
perr1940 | 9:6cf157a6d58b | 215 | stance.set(gait_params); |
cashdollar | 4:bd8994714003 | 216 | fsSwing.set(mm_gait_params); |
cashdollar | 4:bd8994714003 | 217 | fsStance.set(mm_gait_params); |
cashdollar | 4:bd8994714003 | 218 | ftgSwing.set(mm_gait_params); |
cashdollar | 4:bd8994714003 | 219 | ftgStance.set(mm_gait_params); |
perr1940 | 0:cd5ad8e47eb8 | 220 | //pc.printf("%Mem: %d \r\n", AvailableMemory()); |
perr1940 | 0:cd5ad8e47eb8 | 221 | |
perr1940 | 0:cd5ad8e47eb8 | 222 | |
perr1940 | 0:cd5ad8e47eb8 | 223 | // print each knee status |
perr1940 | 0:cd5ad8e47eb8 | 224 | |
perr1940 | 0:cd5ad8e47eb8 | 225 | pc.printf("knee_L: %x, knee_R:%x\r\n,", knee_L.status(), knee_R.status()); |
perr1940 | 0:cd5ad8e47eb8 | 226 | |
perr1940 | 0:cd5ad8e47eb8 | 227 | |
perr1940 | 0:cd5ad8e47eb8 | 228 | } |
cashdollar | 2:650a015179b9 | 229 |