initExoVars.h

00001 
00002 
00003 #ifndef INIT_H
00004 #define INIT_H
00005 
00006 #include "mbed.h"
00007 #include "Encoder.h"
00008 #include "HipControl.h"
00009 #include "knee.h"
00010 #include "FSM.h"
00011 #include "MM_gait.h"
00012 #include "Brad_poly_gait.h"
00013 #define PI (3.141592653589793)
00014 #define my_delete(x) {delete x; x = NULL;}
00015 
00016 //#define SAMPLE_TIME .01
00017 #define SAMPLE_TIME .001
00018 #define TO_RAD(x) (x * 0.01745329252)  // *pi/180
00019 
00020 
00021 /********************************
00022 *  Initializing various I/O pins!
00023 ********************************/
00024 extern DigitalOut mbedLED1;
00025 extern DigitalOut mbedLED2;
00026 extern DigitalOut mbedLED3;
00027 extern DigitalOut motorLED;
00028 
00029 extern SPI dataBedSPI; // mosi, miso, sclk
00030 extern DigitalOut DB_cs;
00031 extern SPI IMUspi;
00032 extern DigitalOut IMUcs;
00033 extern Serial pc;
00034 
00035 // Setup stuff
00036 // absolutes
00037 //extern SPI encoder_L;
00038 //extern DigitalOut encoder_cs_L;
00039 //extern SPI encoder_R;
00040 //extern DigitalOut encoder_cs_R;
00041 extern Encoder encoder_L;
00042 extern Encoder encoder_R;
00043 
00044 // Incremental Indexes (only for homing!)
00045 extern InterruptIn encIdx_R;
00046 extern InterruptIn encIdx_L;
00047 
00048 // Right Leg
00049 extern PwmOut pwmpin_R;
00050 extern DigitalOut dirpin_R;
00051 
00052 //Left Leg
00053 //extern PwmOut pwmpin_L;
00054 //extern DigitalOut dirpin_L;
00055 extern HipControl hip_L;
00056 extern HipControl hip_R;
00057 extern Knee knee_L;
00058 extern Knee knee_R;
00059 
00060 extern FSM fsm;
00061 
00062 extern struct MMgait_t mm_gait_params;
00063 extern struct Brad_poly_gait_t gait_params;
00064 //extern MMSwing swing;
00065 //extern MMStance stance;
00066 extern BradPolySwing swing;
00067 extern BradPolyStance stance;
00068 extern MMFSStance   fsStance;
00069 extern MMFSSwing fsSwing;
00070 extern MMFTG ftgSwing;
00071 extern MMFTG ftgStance;
00072 extern GaitGenerator mm_gait;
00073 extern LinearBlend blend_left;
00074 extern LinearBlend blend_right;
00075 
00076 
00077 /*******************************
00078 * END OF I/O Initialization
00079 *******************************/
00080 
00081 /*******************************
00082 * GLOBAL VARS
00083 *******************************/
00084 
00085 // Global Timers!
00086 extern Timer sysClk;     // system clock (primarily for datalogging)
00087 extern Timer tState;   // time in FSM state
00088 extern Timer t_HCl;  // time when high current begins
00089 extern Timer t_HCr;
00090 extern Timer t_BetweenStepCommand;
00091 
00092 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
00093 const float enc2deg = 360./enc_ticks; // converts encoder reading from 0-16383 (14 bit) to 0-360deg (360 / 16383);
00094 const float control_lim_high=90; //soft stop on the controller
00095 const float control_lim_low=-55;//soft stop on the controller
00096 extern float TimeSinceLastStep;
00097 
00098 //Control Variables
00099 // Control variables
00100 // Gain Scheduling!
00101 extern float Kp_Swing;
00102 extern float Kp_Stance;
00103 extern const float Kp_DoubleStance;//.01;
00104 extern const float Kp_Standing;//.01; //0.0025
00105 extern const float Kp_StandUp;
00106 extern const float Kp_SitDown ;
00107 extern const float Kp_Seated;
00108 
00109 extern float Kd_Stance;
00110 extern float Kd_Swing;
00111 
00112 extern const float Kp;
00113 extern float Kd;
00114 extern const float sat;
00115 extern const float Kp_mag;
00116 extern const float Kp_freq;
00117 extern const float Kp_offset;
00118 extern float stand_adjust;
00119 
00120 extern float zero_enc_offset_L;//=EncOffset_L;
00121 extern float zero_enc_offset_R;//=EncOffset_R;
00122 //extern float bob_dole;
00123 
00124 extern float zero_ang_L;
00125 extern float zero_ang_R;
00126 
00127 extern void initializeExoIOs();
00128 void readCalib();
00129 
00130 #endif