Andrew Fagg / SIPPCLegInterface

Example use of I2CTransaction class. In this example, the master mbed is talking to 3 legs of the SIPPC3B robot.

LegInterface.h

Committer:
symbiotic
Date:
2014-05-26
Revision:
3:8e7471af3453
Parent:
2:17c7a02f8401
Child:
4:5f7d38d0e22d

File content as of revision 3:8e7471af3453:

#ifndef LEGINTERFACE_H
#define LEGINTERFACE_H
#include "I2CTransaction.h"
#include "leg_packets.h"

class LegInterface
{
public:
    // Indices for the different legs
    enum Leg {LEG_W=0, LEG_E, LEG_S, NUM_LEGS};

    // An array of I2C addresses indexable by enum Leg
    static const int LegAddress[];
    
    // Encoder to wheel
    static const float TICKS_PER_METER = 52633.97;
    
    // Angle between front legs
    static const float FRONT_LEG_ANGLE = 130;  // Degrees
    
    // Distance from center of robot to wheel
    static const float ROBOT_RADIUS = 0.4702;  // m
    
    // Number of A2D ticks per meter.  TODO: is 4096 right?
    static const float LIFT_TICKS_PER_METER = 4096 / 0.1;


    LegInterface(Serial *pc = NULL);

    bool sendEstop(bool estop);
    bool queryStateInitiate();
    bool queryStateCompleted();
    bool queryStateWaitForCompletion(int timeout = 1000);
    bool queryStateCopy(LegState_t legState[NUM_LEGS]);
    bool queryStateCopy(float liftPosition[NUM_LEGS], float liftVelocity[NUM_LEGS], float wheelPosition[NUM_LEGS], float wheelVelocity[NUM_LEGS]);
    void displayLegState(LegState_t *legState);
    void queryStateTest(Serial *pc);
    bool queryLegParams(Leg leg, LegControlParams_t *liftParams, LegControlParams_t *wheelParams);
    void displayParams(LegControlParams_t *params);
    bool setLegParams(Leg leg, LegControlParams_t *liftParams, LegControlParams_t *wheelParams);
    bool setLegGoal(int32_t liftPos[NUM_LEGS], int32_t wheelVel[NUM_LEGS]);
    bool setLegGoal(float liftPos[NUM_LEGS], float wheelVel[NUM_LEGS]);
    void displayStatus();

private:
    I2CTransaction *transactionEstop[NUM_LEGS];
    LegPacket_t legPacketEstop;

    I2CTransaction *transactionQueryState[NUM_LEGS];
    LegPacket_t legPacketQuery;
    LegState_t legState[NUM_LEGS];

    I2CTransaction *transactionQueryLiftParams[NUM_LEGS];
    I2CTransaction *transactionQueryWheelParams[NUM_LEGS];
    LegPacket_t legPacketQueryLiftParams;
    LegPacket_t legPacketQueryWheelParams;
    LegControlParams_t legLiftParams;
    LegControlParams_t legWheelParams;

    I2CTransaction *transactionSetLiftParams[NUM_LEGS];
    I2CTransaction *transactionSetWheelParams[NUM_LEGS];
    LegPacket_t legPacketSetLiftParams;
    LegPacket_t legPacketSetWheelParams;
    
    I2CTransaction *transactionSetGoal[NUM_LEGS];
    LegPacket_t legPacketSetGoal[NUM_LEGS];
    Serial *pc;

};

#endif