Patrick Clary
Control program for a four-legged 12 axis robot.
Dependencies: CircularBuffer Servo Terminal mbed Radio
Diff: main.cpp
- Revision:
- 6:0163f2737cc6
- Parent:
- 5:475f67175510
- Child:
- 7:aac5f901bd76
--- a/main.cpp Sun Jan 13 02:59:48 2013 +0000
+++ b/main.cpp Sun Jan 13 19:50:40 2013 +0000
@@ -3,39 +3,127 @@
#include "Matrix.h"
#include "CircularBuffer.h"
#include "Radio.h"
-#include "commands.h"
+#include "Terminal.h"
#include <cstring>
+#include <cmath>
+#define MAXSPEED 0.1f
+#define MAXTURN 1.0f
+#define STEPTIME 0.4f
+enum state_t
+{
+ walk,
+ step,
+ reset
+};
+
+enum legstate_t
+{
+ A,
+ B,
+ C,
+ D
+};
CircularBuffer<float,16> dataLog;
-float radius, speed;
RobotLeg legA(p26, p29, p30);
RobotLeg legB(p13, p14, p15);
RobotLeg legC(p12, p11, p8);
RobotLeg legD(p23, p24, p25);
-Radio radio(p5, p6, p7, p17, p19, p20);
+Radio radio(p5, p6, p7, p19, p20, p17);
+Timer cycleTimer;
+state_t state;
+legstate_t legState;
+
+
+
+CmdHandler* log(Terminal* terminal, const char* input)
+{
+ int start = 0;
+ int end = 15;
+ char output[256];
+
+ if (sscanf(input, "log %d %d", &start, &end) == 1)
+ {
+ // Print only one item
+ sprintf(output, "%4d: %f\n", start, dataLog[start]);
+ terminal->write(output);
+ }
+ else
+ {
+ // Print a range of items
+ for (int i = start; i <= end; i++)
+ {
+ sprintf(output, "%4d: %f\n", i, dataLog[i]);
+ terminal->write(output);
+ }
+ }
+
+ return NULL;
+}
+
+
+
+CmdHandler* read(Terminal* terminal, const char* input)
+{
+ char output[256];
+ uint32_t data;
+
+ data = radio.rx_controller;
+ sprintf(output, "%d%d%d%d%d%d%d%d %d%d%d%d%d%d%d%d %d%d%d%d%d%d%d%d %d%d%d%d%d%d%d%d : %4d %4d %4d %4d",
+ (data>>31)&1, (data>>30)&1, (data>>29)&1, (data>>28)&1, (data>>27)&1, (data>>26)&1, (data>>25)&1, (data>>24)&1,
+ (data>>23)&1, (data>>22)&1, (data>>21)&1, (data>>20)&1, (data>>19)&1, (data>>18)&1, (data>>17)&1, (data>>16)&1,
+ (data>>15)&1, (data>>14)&1, (data>>13)&1, (data>>12)&1, (data>>11)&1, (data>>10)&1, (data>>9)&1, (data>>8)&1,
+ (data>>7)&1, (data>>6)&1, (data>>5)&1, (data>>4)&1, (data>>3)&1, (data>>2)&1, (data>>1)&1, (data>>0)&1,
+ (int8_t)((data>>24)&0xff), (int8_t)((data>>16)&0xff), (int8_t)((data>>8)&0xff), (int8_t)((data)&0xff));
+ terminal->write(output);
+
+ return NULL;
+}
+
+
+
+int deadzone(int input, int zone)
+{
+ if (input > zone) return input;
+ else if (input < -zone) return input;
+ else return 0;
+}
+
+
+
+void resetLegs()
+{
+ legA.reset(-0.5f);
+ legB.reset(0.0f);
+ legC.reset(0.5f);
+ legD.reset(1.0f);
+ cycleTimer.start();
+ state = reset;
+ legState = D;
+}
int main()
{
Timer deltaTimer;
- Timer cycleTimer;
- float angle, arc;
+ float xaxis, yaxis, turnaxis, speed, angle;
vector3 v;
matrix4 T;
matrix4 PA, QA;
matrix4 PB, QB;
matrix4 PC, QC;
- matrix4 PD, QD;
+ matrix4 PD, QD;
Terminal terminal;
+ bool freeA, freeB, freeC, freeD;
terminal.addCommand("log", &log);
- terminal.addCommand("speed", &setspeed);
- terminal.addCommand("radius", &setradius);
terminal.addCommand("read", &read);
+ radio.reset();
+
// Set leg parameters
legA.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
legB.setDimensions(0.11f, 0.125f, -0.006f, 0.020f);
@@ -61,6 +149,12 @@
legD.theta.calibrate(2000, 1000, 45.0f, -45.0f);
legD.phi.calibrate(2000, 1000, 70.0f, -45.0f);
legD.psi.calibrate(1000, 2000, 80.0f, -45.0f);
+
+ // Initialize leg position deltas
+ legA.nDeltaPosition = vector3(0.0f, 0.01f, 0.0f);
+ legB.nDeltaPosition = vector3(0.0f, -0.01f, 0.0f);
+ legC.nDeltaPosition = vector3(0.0f, 0.01f, 0.0f);
+ legD.nDeltaPosition = vector3(0.0f, -0.01f, 0.0f);
// Create matrices to change base from robot coordinates to leg coordinates
QA.translate(vector3(0.1f, 0.1f, 0.0f));
@@ -76,17 +170,9 @@
PD = QD.inverse();
// Go to initial position
- legA.reset(-0.5f);
- legB.reset(0.0f);
- legC.reset(0.5f);
- legD.reset(1.0f);
-
- // Set radius and speed to go straight forward
- radius = 0.0f; // meters
- speed = 0.0f; // m/s
+ resetLegs();
deltaTimer.start();
- cycleTimer.start();
/*
// Dump debug info
@@ -99,32 +185,110 @@
while(true)
{
- // Get arc length of movement delta
- arc = speed*deltaTimer.read();
- dataLog.push(deltaTimer.read());
- deltaTimer.reset();
-
- if (radius == 0)
- {
- angle = 0.0f;
- v.x = 0.0f;
- v.y = arc;
- v.z = 0.0f;
- }
- else
+ switch (state)
{
- angle = -arc/radius;
- v.x = radius*(1 - cos(-angle));
- v.y = radius*sin(-angle);
- v.z = 0.0f;
+ case walk:
+ case step:
+ // Read controller input
+ xaxis = 0.0078125f * deadzone((int8_t)((radio.rx_controller>>0)&0xff), 8); // Convert to +/-1.0f range
+ yaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>8)&0xff), 8);
+ turnaxis = -0.0078125f * deadzone((int8_t)((radio.rx_controller>>16)&0xff), 8);
+
+ // Compute delta movement vector and delta angle
+ v.x = xaxis;
+ v.y = yaxis;
+ v.z = 0;
+ v = v * MAXSPEED * deltaTimer.read();
+ speed = sqrt(v.x*v.x + v.y*v.y);
+ angle = turnaxis * MAXTURN * deltaTimer.read();
+ dataLog.push(turnaxis);
+ deltaTimer.reset();
+
+ // Compute movement transformation in robot coordinates
+ T.identity().rotateZ(angle).translate(v).inverse();
+
+ // Update legs
+ freeA = legA.update(PA*T*QA);
+ freeB = legB.update(PB*T*QB);
+ freeC = legC.update(PC*T*QC);
+ freeD = legD.update(PD*T*QD);
+
+ // Update state
+ switch (legState)
+ {
+ case A:
+ if (!freeB || !freeC || !freeD) resetLegs();
+ else if (!freeA || cycleTimer.read() > 0.055f / speed) // 0.055/speed is 1/4 the gait period (0.22m/speed/4)
+ {
+ legA.reset(1.0f);
+ legState = B;
+ }
+ break;
+
+ case B:
+ if (!freeA || !freeC || !freeD) resetLegs();
+ else if (!freeB || cycleTimer.read() > 0.11f / speed)
+ {
+ legB.reset(1.0f);
+ legState = C;
+ }
+ break;
+
+ case C:
+ if (!freeA || !freeB || !freeD) resetLegs();
+ else if (!freeC || cycleTimer.read() > 0.165f / speed)
+ {
+ legC.reset(1.0f);
+ legState = D;
+ }
+ break;
+
+ case D:
+ if (!freeA || !freeB || !freeC) resetLegs();
+ else if (!freeD || cycleTimer.read() > 0.22f / speed)
+ {
+ legD.reset(1.0f);
+ legState = A;
+ cycleTimer.reset();
+ }
+ break;
+ }
+
+ break;
+
+ case reset:
+ if (cycleTimer.read() < STEPTIME && legState != A)
+ {
+ legA.reset(-0.5f);
+ legState = A;
+ }
+ else if (cycleTimer.read() < STEPTIME * 2 && legState == A)
+ {
+ legB.reset(0.0f);
+ legState = B;
+ }
+ else if (cycleTimer.read() < STEPTIME * 3 && legState == B)
+ {
+ legC.reset(0.5f);
+ legState = C;
+ }
+ else if (cycleTimer.read() < STEPTIME * 4 && legState == C)
+ {
+ legD.reset(1.0f);
+ legState = D;
+ }
+ else if (cycleTimer.read() >= STEPTIME * 4 && legState == D)
+ {
+ state = walk;
+ legState = A;
+ cycleTimer.reset();
+ }
+ else
+ {
+ resetLegs();
+ }
+
+ break;
}
-
- // Compute movement transformation in robot coordinates
- T.identity().rotateZ(angle).translate(v).inverse();
-
- legA.update(PA*T*QA);
- legB.update(PB*T*QB);
- legC.update(PC*T*QC);
- legD.update(PD*T*QD);
}
}