Patrick Clary
/
WalkingRobot
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Dependencies: CircularBuffer Servo Terminal mbed Radio
Revision 0:449568595ed9, committed 2012-10-21
- Comitter:
- pclary
- Date:
- Sun Oct 21 03:31:40 2012 +0000
- Child:
- 1:a5447cf54fba
- Commit message:
- Single leg setup and movement over a terminal
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RobotLeg.lib Sun Oct 21 03:31:40 2012 +0000 @@ -0,0 +1,1 @@ +RobotLeg#dc3ab03a1cfa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Sun Oct 21 03:31:40 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/UCSBRobotics/code/Servo/#79862bf306c1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Terminal.lib Sun Oct 21 03:31:40 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/UCSBRobotics/code/Terminal/#0dddfc8bce8d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Oct 21 03:31:40 2012 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "RobotLeg.h"
+#include "Terminal.h"
+#include <cstring>
+
+
+
+RobotLeg leg(p17, p15, p13);
+
+
+
+CmdHandler* move(Terminal* terminal, const char* input)
+{
+ float x, y, z;
+ bool success = false;
+ char output[256];
+
+ if (sscanf(input, "move %f %f %f", &x, &y, &z) == 3)
+ {
+ success = leg.move(x, y, z);
+ }
+
+ if (success)
+ sprintf(output, "new angles: %7.2f %7.2f %7.2f", leg.thetaAngle, leg.phiAngle, leg.psiAngle);
+ else
+ sprintf(output, "invalid position: %7.2f %7.2f %7.2f", leg.thetaAngle, leg.phiAngle, leg.psiAngle);
+ terminal->write(output);
+
+ return NULL;
+}
+
+
+
+CmdHandler* test(Terminal* terminal, const char* input)
+{
+ char arg[32];
+ char output[256];
+
+ if (sscanf(input, "test %s", arg) == 1)
+ {
+ if (strncmp(arg, "theta", 8))
+ {
+ sprintf(output, "%u %7.2f %7.2f %7.2f", leg.theta.center, leg.theta.usPerDegree, leg.theta.upperLimit, leg.theta.lowerLimit);
+ }
+ else if (strncmp(arg, "phi", 8))
+ {
+ sprintf(output, "%u %7.2f %7.2f %7.2f", leg.phi.center, leg.phi.usPerDegree, leg.phi.upperLimit, leg.phi.lowerLimit);
+ }
+ else if (strncmp(arg, "psi", 8))
+ {
+ sprintf(output, "%u %7.2f %7.2f %7.2f", leg.psi.center, leg.psi.usPerDegree, leg.psi.upperLimit, leg.psi.lowerLimit);
+ }
+ else
+ {
+ sprintf(output, "%s is not a valid servo", arg);
+ }
+ }
+ else
+ {
+ sprintf(output, "error reading input parameters");
+ }
+
+ terminal->write(output);
+
+ return NULL;
+}
+
+
+
+int main()
+{
+ Terminal terminal;
+
+ // Set leg parameters
+ leg.setDimensions(0.094f, 0.104f, -0.006f, 0.020f);
+ leg.setAngleOffsets(0.7853982f, 0.0f, 0.0f);
+ leg.theta.calibrate(950, 2200, 60.0f, -60.0f);
+ leg.phi.calibrate(975, 2250, 80.0f, -60.0f);
+ leg.psi.calibrate(2400, 1125, 60.0f, -60.0f);
+
+ terminal.addCommand("move", &move);
+ terminal.addCommand("test", &test);
+
+ while(true) {}
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Oct 21 03:31:40 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc \ No newline at end of file