File content as of revision 33:945d634d4c9b:

//NHK2019MR2 馬型機構プログラム.
//#define VSCODE
#ifdef VSCODE
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#else
#include "mbed.h"
#include "pinnames.h"
#include "KondoServo.h"
#include "pi.h"
#include "can.h"
#define USE_CAN //can通信するならdefine.しないなら切らないとエラー出る
//#define USE_ROS
#endif
//#define DEBUG_ON //デバッグ用。使わないときはコメントアウト
#include "debug.h"
#include "OneLeg.h" ///足先の座標を保存するクラス。x,yやサーボの角度の保存、サーボの駆動も行う。他の足を考慮した処理は別のクラスに任せる。
#include "Walk.h"   //歩き方に関するファイル

////////////あまり変化させないパラメータ。この他は全てmainの上(ParamSetup())にある。
const int kServoSpan_ms = 6;                  //サーボの送信間隔
const float kBetweenServoHalf_m = 0.03 * 0.5; //サーボ間の距離の半分
float kLegLength1[2] = {0.1, 0.1};
float kLegLength2[2] = {0.2452 + 0.0025, 0.23};
//サーボの正負と座標系の正負の補正.足で一セット。
const int kServoSign[2][2] = {{1, -1}, {-1, 1}};
//欲しい座標系0度でのサーボのICSマネージャーの値
const double kServoValToDegree = 270.0 / (11500 - 3500); //ICSの値を度に変換
const double kOriginDegree[2][2] = {
    {
        (7639 - 3500) * kServoValToDegree,
        (7662 - 3500) * kServoValToDegree + 180,
    },
    {
        (6431 - 3500) * kServoValToDegree,
        (8135 - 3500) * kServoValToDegree - 180,
    },
};
///////////////
#ifndef VSCODE
Timer timer;
KondoServo servo[2] = {
    KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]),
    KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]),
};
DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)};
#endif
#ifdef USE_ROS
#include <ros.h>
#include <geometry_msgs/Vector3.h>
ros::NodeHandle nh_mbed;
//ROSからのコールバック関数
void callback(const geometry_msgs::Vector3 &cmd_vel);
//LPからの左右速度比を受けとり、それをもとに歩行パターンを決定する
//1サイクルの間、通信は遮断され、サイクル終了後に通信を受け付ける
ros::Subscriber<geometry_msgs::Vector3> sub_vel("/cmd_vel", &callback);
#endif
OneLeg leg[4]; //各足の位置
enum LegNum    //足とシリアルサーボの番号
{
    RIGHT_B,
    RIGHT_F,
    LEFT_B,
    LEFT_F,
};
FILE *fp;
const float kRadToDegree = 180.0 / M_PI;
int MoveOneCycle(Walk walkway, OneLeg leg[4]);
void MoveServo(OneLeg leg, int legnum, int servo_id);
void WaitStdin(char startchar);
int FileOpen();
int IsArrived(int count, int finish);
//段差があるときの機体角度を計算
//param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
float GetSteepBodyRad(float back_height_on_step);

////////調整するべきパラメータ
enum WalkWay
{
    STANDUP,
    STRAIGHT,
    TURNLEFT,
    TURNRIGHT,
    UP,            //足を伸ばして立つ
    OVERCOME,      //前足を乗せる
    SANDDUNE,      //前足だけがsandduneに乗った状態で進む
    OVERCOME_BACK, //後ろ足を乗せる
    STRAIGHT_W,    //両足がsandduneに乗った状態で進む
    ROPE_F,        //ropeをまたぐ（前足)
    ROPE_B,        //ropeをまたぐ（後ろ足)
    END,
    STRAIGHT_W2, //後足がsandduneに乗った状態で進む
};
void ParamsSetup(Walk walks[END], OneLeg leg[4]) //各パラメータの設定。減らしていく必要あり
{
    Walk::calctime_s_ = 0.03; //計算周期
    //足の作成、サイズデータのみの足の骨組.4足同じにしている
    for (int i = 0; i < 4; i++)
        leg[i] = OneLeg(kBetweenServoHalf_m, kLegLength1, kLegLength2);
    walks[STANDUP].SetAllLegStandParam(0, 0.2, 0.5); //x,y,time_s.一括で設定できる

    //STRAIGT 論文通りのとき、offset_y_mは <=0.32
    float offset_x_m = -0.05, offset_y_m = 0.20, stride_m = 0.12, height_m = 0.05, buffer_height_m = 0.01,
          stridetime_s = 0.3, toptime_s = 0.07, buffer_time_s = 0.03;
    walks[STRAIGHT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから
        (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[STRAIGHT].ChangeOneParam(LEFT_F, OFFSET_X_M, 0);
    walks[STRAIGHT].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0);
    walks[STRAIGHT].ChangeOneParam(LEFT_F, OFFSET_Y_M, 0.2);
    walks[STRAIGHT].ChangeOneParam(RIGHT_F, OFFSET_Y_M, 0.2);
    walks[STRAIGHT].SetOffsetTime(0, 0.5, 0.5, 0);

    //TURNLEFTのparam
    float stride_short_m = 0.05, stride_long_m = 0.25;
    stridetime_s = 0.3, toptime_s = 0.07, buffer_time_s = 0.03,
    offset_x_m=0, offset_y_m = 0.2, height_m = 0.03, buffer_height_m = 0.01;
    walks[TURNLEFT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから
        (offset_x_m, offset_y_m, stride_long_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[TURNLEFT].ChangeOneParam(LEFT_F, STRIDE_M, stride_short_m); //一部のパラメータを変更
    walks[TURNLEFT].ChangeOneParam(LEFT_B, STRIDE_M, stride_short_m);
    walks[TURNLEFT].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1])

    //TURNRIGHT1のparam
    walks[TURNRIGHT].SetAllLegTriangleParam // 4足を取り敢えず一括で設定してから
      (offset_x_m, offset_y_m, stride_long_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[TURNRIGHT].ChangeOneParam(RIGHT_F, STRIDE_M, stride_short_m); //一部のパラメータを変更
    walks[TURNRIGHT].ChangeOneParam(RIGHT_B, STRIDE_M, stride_short_m);
    walks[TURNRIGHT].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1])

    // UP, //足を伸ばして立つ
    LineParam up[] = {
        {.time_s = 1, .x_m = 0, .y_m = 0.3},
        {.time_s = 0, .x_m = 0, .y_m = 0.3}};
    walks[UP].SetAllLegStandParam(0, 0.3, 1.2); //x,y,time_s.一括で設定できる

    // OVERCOME 前足を乗せる
    
    LineParam over_come_front_r[] = {
        {.time_s = 0.2, .x_m = 0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15},
        {.time_s = 0.2, .x_m = 0.12, .y_m = 0.15},
        {.time_s = 0.6, .x_m = 0.12, .y_m = 0.2},
        {.time_s = 0, 
        .x_m = 0.05, .y_m = 0.2}};
    LineParam over_come_front_l[] = {
        {.time_s = 0.6, .x_m = -0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15},
        {.time_s = 0.2, .x_m = 0.12, .y_m = 0.15},
        {.time_s = 0, .x_m = 0.12, .y_m = 0.2}};
    LineParam over_come_backleg[] = {
        {.time_s = 0.6, .x_m = 0, .y_m = 0.3},
        {.time_s = 0.2, .x_m = 0, .y_m = 0.3},
        {.time_s = 0.4, .x_m = -0.1,.y_m = 0.3},
        {.time_s = 0, .x_m = -0.1,.y_m = 0.3},
    };
    walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_F,  over_come_front_r, sizeof(over_come_front_r)/ sizeof(over_come_front_r[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_F,  over_come_front_l, sizeof(over_come_front_l)/sizeof(over_come_front_l[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_B,  over_come_backleg, sizeof(over_come_backleg)/sizeof(over_come_backleg[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_B,  over_come_backleg, sizeof(over_come_backleg)/sizeof(over_come_backleg[0]));

    
    LineParam over_come_front_r[] = {
        {.time_s = 0.2, .x_m = 0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15},
        {.time_s = 0.2, .x_m = 0.12, .y_m = 0.15},
        {.time_s = 0.6, .x_m = 0.12, .y_m = 0.2},
        {.time_s = 0, 
        .x_m = 0.05, .y_m = 0.2}};
    LineParam over_come_front_l[] = {
        {.time_s = 0.6, .x_m = -0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0, .y_m = 0.32},
        {.time_s = 0.2, .x_m = -0.13, .y_m = 0.15},
        {.time_s = 0.2, .x_m = 0.12, .y_m = 0.15},
        {.time_s = 0, .x_m = 0.12, .y_m = 0.2}};
    LineParam over_come_backleg[] = {
        {.time_s = 0.6, .x_m = 0, .y_m = 0.3},
        {.time_s = 0.2, .x_m = 0, .y_m = 0.3},
        {.time_s = 0.4, .x_m = -0.1,.y_m = 0.3},
        {.time_s = 0, .x_m = -0.1,.y_m = 0.3},
    };
    walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_F,  over_come_front_r, sizeof(over_come_front_r)/ sizeof(over_come_front_r[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_F,  over_come_front_l, sizeof(over_come_front_l)/sizeof(over_come_front_l[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(LEFT_B,  over_come_backleg, sizeof(over_come_backleg)/sizeof(over_come_backleg[0]));
    walks[OVERCOME].SetOneLegFreeLinesParam(RIGHT_B,  over_come_backleg, sizeof(over_come_backleg)/sizeof(over_come_backleg[0]));
    

    // SANDDUNE, //前足だけがsandduneに乗った状態で進む
    offset_x_m = -0.03, offset_y_m = 0.3, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01,
    stridetime_s = 0.2, toptime_s = 0.07, buffer_time_s = 0.03;
    walks[SANDDUNE].SetAllLegTriangleParam // 4足一括で設定
        (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[SANDDUNE].ChangeOneParam(LEFT_F, OFFSET_X_M, 0);
    walks[SANDDUNE].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0);
    walks[SANDDUNE].ChangeOneParam(LEFT_F, OFFSET_Y_M, offset_y_m - 0.1);
    walks[SANDDUNE].ChangeOneParam(RIGHT_F, OFFSET_Y_M, offset_y_m - 0.1);
    walks[SANDDUNE].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1])

    // OVERCOME_BACK, //後ろ足を乗せる
    float offset_x_back = -0.05;
    LineParam overcomebackParams[] = {
        {.time_s = 0.8, .x_m = -0.05f + offset_x_back, .y_m = 0.3},
        {.time_s = 0.2, .x_m = -0.05f + offset_x_back, .y_m = 0.3},
        {.time_s = 0.2, .x_m = -0.1f + offset_x_back, .y_m = 0.16},
        {.time_s = 0.2, .x_m = 0.1f + offset_x_back, .y_m = 0.16},
        {.time_s = 0.2, .x_m = 0.1f + offset_x_back, .y_m = 0.2},
        {.time_s = 0.8, .x_m = 0.05f + offset_x_back, .y_m = 0.2},
        {.time_s = 0, .x_m = 0.05f + offset_x_back, .y_m = 0.2},
    };
    LineParam standbackParams[] = {
        {.time_s = 0.6, .x_m = 0.0f + offset_x_back, .y_m = 0.2},
        {.time_s = 0.2, .x_m = 0.0f + offset_x_back, .y_m = 0.2},
        {.time_s = 0.6, .x_m = -0.05f + offset_x_back, .y_m = 0.2},
        {.time_s = 0, .x_m = -0.05f + offset_x_back, .y_m = 0.2},
    };
    walks[OVERCOME_BACK].SetOneLegFreeLinesParam(LEFT_F, standbackParams, sizeof(standbackParams) / sizeof(standbackParams[0]));
    walks[OVERCOME_BACK].SetOneLegFreeLinesParam(RIGHT_F, standbackParams, sizeof(standbackParams) / sizeof(standbackParams[0]));
    walks[OVERCOME_BACK].SetOneLegFreeLinesParam(LEFT_B, overcomebackParams, sizeof(overcomebackParams) / sizeof(overcomebackParams[0]));
    walks[OVERCOME_BACK].SetOneLegFreeLinesParam(RIGHT_B, overcomebackParams, sizeof(overcomebackParams) / sizeof(overcomebackParams[0]));
    walks[OVERCOME_BACK].SetOffsetTime(0, 0, 0.5, 0);

    // STRAIGHT_W, //両足がsandduneに乗った状態で進む
    offset_x_m = -0.09, offset_y_m = 0.2, stride_m = 0.1, height_m = 0.03, buffer_height_m = 0.01,
    stridetime_s = 0.2, toptime_s = 0.07, buffer_time_s = 0.03;
    walks[STRAIGHT_W].SetAllLegTriangleParam // 4足一括で設定
        (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[STRAIGHT_W].ChangeOneParam(LEFT_F, OFFSET_X_M, 0);
    walks[STRAIGHT_W].ChangeOneParam(RIGHT_F, OFFSET_X_M, 0);
    walks[STRAIGHT_W].SetOffsetTime(0, 0.5, 0.5, 0);

   // ROPE_F, //ropeをまたぐ（前足)
    offset_x_m = 0, offset_y_m = 0.3, stride_m = .15, height_m = 0.03, buffer_height_m = 0.01,
    stridetime_s = 1, toptime_s = 0.35, buffer_time_s = 0.05;
    walks[ROPE_F].SetAllLegTriangleParam // 4足一括で設定
        (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[ROPE_F].ChangeOneParam(LEFT_F, HEIGHT_M, 0.15); //前足だけ足を延ばす
    walks[ROPE_F].ChangeOneParam(RIGHT_F, HEIGHT_M, 0.15);
    walks[ROPE_F].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1])

    // ROPE_B,   //ropeをまたぐ（後ろ足)
    offset_x_m = -0.05, offset_y_m = 0.3, stride_m = .1, height_m = 0.03, buffer_height_m = 0.01,
    stridetime_s = 1, toptime_s = 0.35, buffer_time_s = 0.05;
    walks[ROPE_B].SetAllLegTriangleParam // 4足一括で設定
        (offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, stridetime_s, toptime_s, buffer_time_s);
    walks[ROPE_B].ChangeOneParam(LEFT_B, HEIGHT_M, 0.15); //後ろ足だけ足を延ばす
    walks[ROPE_B].ChangeOneParam(RIGHT_B, HEIGHT_M, 0.15);
    walks[ROPE_B].ChangeOneParam(LEFT_B, OFFSET_X_M, -0.07);
    walks[ROPE_B].ChangeOneParam(RIGHT_B, OFFSET_X_M, -0.07);
    walks[ROPE_B].SetOffsetTime(0, 0.5, 0.5, 0); //位相ずれの程度(値域[0..1])
}
Walk walks[END]; //歩行法
int main()
{
#ifdef VSCODE
    if (FileOpen()) //csv fileに書き込み
        return 1;   //異常終了したら強制終了
#endif
    DEBUG("param set start");
    ParamsSetup(walks, leg);      //各動きの際の足の軌道を設定。パラメータはこの関数内に打ち込む
    for (int i = 0; i < END; i++) //軌道のチェック
    {
        if (walks[i].CheckOrbit(leg[0]) == 1) //軌道が定義外なら
        {
            printf("error: move pattern %d\r\n", i);
            return 1; //強制終了.errorは内部の関数からprintfで知らせる
        }
    }
    printf("Stand up?\r\n");
    WaitStdin('y'); // ボタンを押したら立つ
    MoveOneCycle(walks[STANDUP], leg);
    printf("Move?\r\n");
    WaitStdin('y'); // ボタンを押したらスタート
#ifdef USE_ROS
    nh_mbed.getHardware()->setBaud(115200);
    nh_mbed.initNode();
    nh_mbed.subscribe(sub_vel);
    while (1)
        nh_mbed.spinOnce();
#else
    
        for(int k=0;k<5;k++)MoveOneCycle(walks[STRAIGHT], leg);
        for(int k=0;k<1;k++)MoveOneCycle(walks[UP], leg);
        for(int k=0;k<1;k++)MoveOneCycle(walks[OVERCOME],leg);
        for(int k=0;k<5;k++) MoveOneCycle(walks[SANDDUNE],leg);
//        for(int k=0;k<1;k++)MoveOneCycle(walks[OVERCOME_BACK],leg);
//        for(int k=0;k<3;k++)MoveOneCycle(walks[STRAIGHT_W], leg);
//        for(int k=0;k<5;k++)Move(*straight_w2, leg,(*straight_w2).GetTheta(0.1));
//        for(int k=0;k<3;k++)Move(*straight, leg);
/*
    for (int i = 1; i < END; i++) //ENDになるまでWalkWayの順に動作
    {
        printf("Move %d\r\n", i);
        for (int j = 0; j < 20; j++) //debug用に2歩進む
            {
                if(MoveOneCycle(walks[i], leg) == 1)
                    printf("error:In MoveOneCycle. WalkWay %d\r\n",i);
            }
    }
  
    MoveOneCycle(walks[STANDUP], leg); //最後はLRFを保護するためSTANDUPの状態で終わる
  
  */  printf("program end\r\n");
#ifdef VSCODE
    fclose(fp);
#endif
#endif
}
//一サイクル分進む.return 1:異常終了
int MoveOneCycle(Walk walkway, OneLeg leg[4])
{
#ifndef VSCODE
    timer.reset();
    timer.start();
#endif
    int count = walkway.GetOneWalkTime() / walkway.calctime_s_;
    for (int i = 0; i < count; i++)
    {
#ifndef VSCODE
        float time_s = timer.read();
#endif
        //4本の足それぞれの足先サーボ角度更新
        if (walkway.Cal4LegsPosi(leg) == 1)
        {
            printf("error: time = %f\r\n", i * walkway.calctime_s_);
            return 1;
        }
#ifdef USE_CAN
        SendRad(leg[2], leg[3]); //slave_mbed分の足の目標位置を送信
#endif
        //自身が動かす足のサーボを動かす
        MoveServo(leg[0], 0, 0);
        MoveServo(leg[1], 1, 0);
#ifndef VSCODE
        wait_ms(kServoSpan_ms);
#endif
        MoveServo(leg[0], 0, 1);
        MoveServo(leg[1], 1, 1);
#ifdef VSCODE
        //ファイルに書き込み。time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]の順
        fprintf(fp, "%f", i * walkway.calctime_s_);
        for (int i = 0; i < 4; i++)
            fprintf(fp, ",%f,%f", leg[i].GetX_m(), leg[i].GetY_m());
        fprintf(fp, "\r\n");
#else
        //計算周期がwalkway.calctime_s_になるようwait
        float rest_time_s = walkway.calctime_s_ - (timer.read() - time_s);
        if (rest_time_s > 0)
            wait(rest_time_s);
        else
        { //計算周期が達成できないときはDEBUGで知らせるだけ。動きはする。
            DEBUG("error: rest_time_s = %f in Move()\r\n", rest_time_s);
            led[0] = 1;
        }
#endif
    }
    return 0;
}
void MoveServo(OneLeg leg, int serial_num, int servo_id)
{
#ifndef VSCODE
    float degree = leg.GetRad(servo_id) * kRadToDegree;
    //サーボの座標系に変更
    float servo_degree = kServoSign[serial_num][servo_id] * degree + kOriginDegree[serial_num][servo_id];
    //    DEBUG("servo_degree[%d][%d],%f\r\n", serial_num, servo_id, servo_degree);
    servo[serial_num].set_degree(servo_id, servo_degree);
#endif
}
void WaitStdin(char startchar)
{
#ifndef USE_ROS
    char str[255] = {};
    do
    {
        printf("put '%c', then start\r\n", startchar);
        scanf("%s", str);
    } while (str[0] != startchar);
#endif
}
int FileOpen() //1:異常終了
{
    if ((fp = fopen("data.csv", "w")) == NULL)
    {
        printf("error : FileSave()\r\n");
        return 1;
    }
    fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n");
    return 0;
}
#ifdef USE_ROS
void callback(const geometry_msgs::Vector3 &cmd_vel)
{
    float left_vel = cmd_vel.x;
    float right_vel = cmd_vel.y;
    //閾値は要検討
    if (right_vel < left_vel)
        MoveOneCycle(walks[TURNRIGHT], leg);
    else if (left_vel < right_vel)
        MoveOneCycle(walks[TURNLEFT], leg);
    else
        MoveOneCycle(walks[STRAIGHT], leg);
}
#endif
//param back_height_on_step:段差の高さ。後ろにあるとする。前にあるときはマイナスを入れる
float GetSteepBodyRad(float back_height_on_step)
{
    float offset_hight = back_height_on_step + leg[LEFT_B].GetY_m() - leg[LEFT_B].GetY_m();
    float theta = atan2(offset_hight, (float)(sqrt(0.09 - offset_hight * offset_hight)));
    return theta;
}