Control program for a four-legged 12 axis robot.
Dependencies: CircularBuffer Servo Terminal mbed Radio
main.cpp
- Committer:
- pclary
- Date:
- 2013-01-13
- Revision:
- 7:aac5f901bd76
- Parent:
- 6:0163f2737cc6
- Child:
- 8:db453051f3f4
File content as of revision 7:aac5f901bd76:
#include "mbed.h" #include "RobotLeg.h" #include "Matrix.h" #include "CircularBuffer.h" #include "Radio.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; 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, 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; float xaxis, yaxis, turnaxis, speed, angle; vector3 v; matrix4 T; matrix4 PA, QA; matrix4 PB, QB; matrix4 PC, QC; matrix4 PD, QD; Terminal terminal; bool freeA, freeB, freeC, freeD; terminal.addCommand("log", &log); terminal.addCommand("read", &read); radio.reset(); // Set leg parameters legA.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f); legB.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f); legC.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f); legD.setDimensions(0.125f, 0.11f, 0.0025f, 0.025f); legA.setAngleOffsets(0.7853982f, 0.0f, 0.0f); legB.setAngleOffsets(0.7853982f, 0.0f, 0.0f); legC.setAngleOffsets(0.7853982f, 0.0f, 0.0f); legD.setAngleOffsets(0.7853982f, 0.0f, 0.0f); legA.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f); legB.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f); legC.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f); legD.setStepCircle(0.095f, 0.095f, -0.12f, 0.09f); legA.theta.calibrate(1000, 2000, 45.0f, -45.0f); legA.phi.calibrate(1000, 2000, 70.0f, -45.0f); legA.psi.calibrate(2000, 1000, 70.0f, -60.0f); legB.theta.calibrate(1000, 2000, 45.0f, -45.0f); legB.phi.calibrate(1000, 2000, 70.0f, -45.0f); legB.psi.calibrate(2000, 1000, 70.0f, -60.0f); legC.theta.calibrate(2000, 1000, 45.0f, -45.0f); legC.phi.calibrate(2000, 1000, 70.0f, -45.0f); legC.psi.calibrate(1000, 2000, 70.0f, -60.0f); legD.theta.calibrate(2000, 1000, 45.0f, -45.0f); legD.phi.calibrate(2000, 1000, 70.0f, -45.0f); legD.psi.calibrate(1000, 2000, 70.0f, -60.0f); // 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)); PA = QA.inverse(); QB.translate(vector3(-0.1f, -0.1f, 0.0f)); QB.a11 = -1.0f; QB.a22 = -1.0f; PB = QB.inverse(); QC.translate(vector3(0.1f, -0.1f, 0.0f)); QC.a11 = -1.0f; PC = QC.inverse(); QD.translate(vector3(-0.1f, 0.1f, 0.0f)); QD.a22 = -1.0f; PD = QD.inverse(); // Go to initial position resetLegs(); deltaTimer.start(); /* // Dump debug info sprintf(output, "T =\t%f\t%f\t%f\t%f\n\t%f\t%f\t%f\t%f\n\t%f\t%f\t%f\t%f\n\t0\t\t0\t\t0\t\t1\n", T.a11, T.a12, T.a13, T.a14, T.a21, T.a22, T.a23, T.a24, T.a31, T.a32, T.a33, T.a34); terminal.write(output); */ while(true) { switch (state) { 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 walk:, case step: 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; // case reset: } // switch (state) } // while (true) } // main()