Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp@35:4cb2ed6dd2d2, 2019-11-01 (annotated)
- Committer:
- viviien
- Date:
- Fri Nov 01 08:24:42 2019 +0000
- Revision:
- 35:4cb2ed6dd2d2
- Parent:
- 33:88fbf14d8aaf
- Child:
- 36:22d1bcb82061
- Child:
- 37:15446e49ff3d
FInal without emg; ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Feike | 4:bd21569250c7 | 1 | #include "mbed.h" |
Feike | 8:017b813c72bb | 2 | #include "MODSERIAL.h" |
Feike | 12:2382468d36a4 | 3 | #include "QEI.h" |
Feike | 18:ab0fe311e7f3 | 4 | #include "Math.h" |
Feike | 18:ab0fe311e7f3 | 5 | #include "ttmath.h" |
viviien | 33:88fbf14d8aaf | 6 | #include "FastPWM.h" |
Feike | 18:ab0fe311e7f3 | 7 | |
Feike | 17:6da57acb7bea | 8 | MODSERIAL pc(USBTX, USBRX); |
Feike | 18:ab0fe311e7f3 | 9 | //Serial term (USBTX, USBRX); |
viviien | 33:88fbf14d8aaf | 10 | FastPWM motor1_pwm(PTC2); |
Feike | 17:6da57acb7bea | 11 | DigitalOut motor1_dir(PTC3); |
viviien | 33:88fbf14d8aaf | 12 | FastPWM motor2_pwm(PTA2); |
Feike | 18:ab0fe311e7f3 | 13 | DigitalOut motor2_dir(PTB23); |
viviien | 33:88fbf14d8aaf | 14 | FastPWM motor3_pwm(PTC4); |
Feike | 18:ab0fe311e7f3 | 15 | DigitalOut motor3_dir(PTC12); |
Feike | 4:bd21569250c7 | 16 | |
viviien | 30:390cab7cd6e6 | 17 | AnalogIn potmeter1(A1); |
viviien | 30:390cab7cd6e6 | 18 | |
viviien | 30:390cab7cd6e6 | 19 | |
viviien | 30:390cab7cd6e6 | 20 | |
viviien | 23:18b0be02187f | 21 | QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 22 | QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING); |
viviien | 23:18b0be02187f | 23 | QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING); |
Feike | 7:e119b12e5e7f | 24 | |
viviien | 35:4cb2ed6dd2d2 | 25 | |
Feike | 13:18dd7a15603f | 26 | int quit; |
Feike | 19:9c8ab7922191 | 27 | int limit_pos = 8400; |
Feike | 19:9c8ab7922191 | 28 | float steps; |
Feike | 19:9c8ab7922191 | 29 | int g = 0; |
Feike | 19:9c8ab7922191 | 30 | |
Feike | 18:ab0fe311e7f3 | 31 | int counts1 = 0; |
Feike | 18:ab0fe311e7f3 | 32 | int counts2 = 0; |
Feike | 18:ab0fe311e7f3 | 33 | int counts3 = 0; |
viviien | 27:3eb181cbe183 | 34 | |
viviien | 35:4cb2ed6dd2d2 | 35 | float savedX = 0; |
viviien | 35:4cb2ed6dd2d2 | 36 | float savedY = 0; |
viviien | 35:4cb2ed6dd2d2 | 37 | float savedZ = 0; |
viviien | 35:4cb2ed6dd2d2 | 38 | int sign = 0; |
viviien | 35:4cb2ed6dd2d2 | 39 | |
Feike | 13:18dd7a15603f | 40 | |
Feike | 18:ab0fe311e7f3 | 41 | const float le = 15.0; |
Feike | 18:ab0fe311e7f3 | 42 | const float f = 37.5; |
Feike | 18:ab0fe311e7f3 | 43 | const float re = 174.0; |
Feike | 18:ab0fe311e7f3 | 44 | const float rf = 50.0; |
Feike | 18:ab0fe311e7f3 | 45 | const float pi = 3.14159265358979323846; |
viviien | 22:9f911405e096 | 46 | const float cospi = -0.5; |
viviien | 22:9f911405e096 | 47 | const float sinpi = 0.8660254; |
Feike | 18:ab0fe311e7f3 | 48 | float y2; |
Feike | 18:ab0fe311e7f3 | 49 | float y1; |
Feike | 18:ab0fe311e7f3 | 50 | float z1; |
Feike | 18:ab0fe311e7f3 | 51 | float z2; |
Feike | 18:ab0fe311e7f3 | 52 | float rje2; |
Feike | 18:ab0fe311e7f3 | 53 | float rje; |
Feike | 18:ab0fe311e7f3 | 54 | float r2; |
Feike | 18:ab0fe311e7f3 | 55 | float r; |
Feike | 19:9c8ab7922191 | 56 | |
viviien | 35:4cb2ed6dd2d2 | 57 | float z0=-158; |
Feike | 18:ab0fe311e7f3 | 58 | float y0=0; |
Feike | 18:ab0fe311e7f3 | 59 | float x0=0; |
Feike | 19:9c8ab7922191 | 60 | |
Feike | 18:ab0fe311e7f3 | 61 | float theta1; |
Feike | 18:ab0fe311e7f3 | 62 | float theta2; |
Feike | 18:ab0fe311e7f3 | 63 | float theta3; |
viviien | 35:4cb2ed6dd2d2 | 64 | |
Feike | 19:9c8ab7922191 | 65 | |
viviien | 28:43a1d67ff8ea | 66 | // Constant values for PI |
viviien | 30:390cab7cd6e6 | 67 | float Kp; |
viviien | 30:390cab7cd6e6 | 68 | |
viviien | 30:390cab7cd6e6 | 69 | float Ts = 0.0025; |
viviien | 28:43a1d67ff8ea | 70 | float error1 = 0; |
viviien | 30:390cab7cd6e6 | 71 | float error2 = 0; |
viviien | 30:390cab7cd6e6 | 72 | float error3 = 0; |
viviien | 28:43a1d67ff8ea | 73 | |
viviien | 30:390cab7cd6e6 | 74 | float newmotor1 = 1; |
viviien | 30:390cab7cd6e6 | 75 | float newmotor2 = 1; |
viviien | 30:390cab7cd6e6 | 76 | float newmotor3 = 1; |
viviien | 30:390cab7cd6e6 | 77 | |
viviien | 30:390cab7cd6e6 | 78 | float u_k1 = 0; |
viviien | 30:390cab7cd6e6 | 79 | float u_k2 = 0; |
viviien | 30:390cab7cd6e6 | 80 | float u_k3 = 0; |
viviien | 30:390cab7cd6e6 | 81 | |
viviien | 32:60a71dcfdb7a | 82 | float angle1 = 0; |
viviien | 32:60a71dcfdb7a | 83 | float angle2 = 0; |
viviien | 32:60a71dcfdb7a | 84 | float angle3 = 0; |
viviien | 32:60a71dcfdb7a | 85 | |
viviien | 32:60a71dcfdb7a | 86 | float time_sin = 0; |
viviien | 32:60a71dcfdb7a | 87 | |
viviien | 32:60a71dcfdb7a | 88 | |
viviien | 32:60a71dcfdb7a | 89 | void delta_calctheta1 () { |
viviien | 32:60a71dcfdb7a | 90 | float y2 = y0 + le; |
viviien | 32:60a71dcfdb7a | 91 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 92 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 93 | float z2 = z0; |
viviien | 32:60a71dcfdb7a | 94 | float rje2 = re*re - x0*x0; |
viviien | 32:60a71dcfdb7a | 95 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 96 | float r2 = (y1-y2)*(y1-y2) + (z1-z0)*(z1-z0); |
viviien | 32:60a71dcfdb7a | 97 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 98 | |
viviien | 32:60a71dcfdb7a | 99 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 100 | int check = 1; |
viviien | 32:60a71dcfdb7a | 101 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 102 | } |
viviien | 32:60a71dcfdb7a | 103 | else { |
viviien | 32:60a71dcfdb7a | 104 | float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 35:4cb2ed6dd2d2 | 105 | float beta = atan((z1+z2)/(y1-y2)); |
viviien | 35:4cb2ed6dd2d2 | 106 | if(beta<=0) { |
viviien | 32:60a71dcfdb7a | 107 | beta = beta + pi; |
viviien | 35:4cb2ed6dd2d2 | 108 | if (beta>=alpha) { |
viviien | 35:4cb2ed6dd2d2 | 109 | theta1 = beta-alpha; |
viviien | 35:4cb2ed6dd2d2 | 110 | } |
viviien | 35:4cb2ed6dd2d2 | 111 | else { |
viviien | 35:4cb2ed6dd2d2 | 112 | theta1 = -alpha+beta; |
viviien | 35:4cb2ed6dd2d2 | 113 | } |
viviien | 35:4cb2ed6dd2d2 | 114 | |
viviien | 32:60a71dcfdb7a | 115 | } |
viviien | 35:4cb2ed6dd2d2 | 116 | if(beta>0) { |
viviien | 35:4cb2ed6dd2d2 | 117 | if (beta<=alpha) { |
viviien | 35:4cb2ed6dd2d2 | 118 | theta1 = -alpha+beta; |
viviien | 35:4cb2ed6dd2d2 | 119 | } |
viviien | 35:4cb2ed6dd2d2 | 120 | else { |
viviien | 35:4cb2ed6dd2d2 | 121 | theta1 = beta-alpha; |
viviien | 35:4cb2ed6dd2d2 | 122 | } |
viviien | 35:4cb2ed6dd2d2 | 123 | } |
viviien | 32:60a71dcfdb7a | 124 | } |
viviien | 32:60a71dcfdb7a | 125 | } |
viviien | 32:60a71dcfdb7a | 126 | |
viviien | 32:60a71dcfdb7a | 127 | void delta_calctheta2 () { |
viviien | 32:60a71dcfdb7a | 128 | float xref = x0*cospi+y0*sinpi; |
viviien | 32:60a71dcfdb7a | 129 | float yref = y0*cospi-x0*sinpi; |
viviien | 32:60a71dcfdb7a | 130 | float zref = z0; |
viviien | 32:60a71dcfdb7a | 131 | float y2 = yref + le; |
viviien | 32:60a71dcfdb7a | 132 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 133 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 134 | float z2 = zref; |
viviien | 32:60a71dcfdb7a | 135 | float rje2 = re*re - xref*xref; |
viviien | 32:60a71dcfdb7a | 136 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 137 | float r2 = (y1-y2)*(y1-y2) + (z1-zref)*(z1-zref); |
viviien | 32:60a71dcfdb7a | 138 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 139 | |
viviien | 32:60a71dcfdb7a | 140 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 141 | int check = 1; |
viviien | 32:60a71dcfdb7a | 142 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 143 | } |
viviien | 35:4cb2ed6dd2d2 | 144 | else { |
viviien | 35:4cb2ed6dd2d2 | 145 | float alpha2 = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 35:4cb2ed6dd2d2 | 146 | float beta2 = atan((z1+z2)/(y1-y2)); |
viviien | 35:4cb2ed6dd2d2 | 147 | if(beta2<=0) { |
viviien | 35:4cb2ed6dd2d2 | 148 | beta2 = beta2 + pi; |
viviien | 35:4cb2ed6dd2d2 | 149 | if (beta2>=alpha2) { |
viviien | 35:4cb2ed6dd2d2 | 150 | theta2 = beta2-alpha2; |
viviien | 35:4cb2ed6dd2d2 | 151 | } |
viviien | 35:4cb2ed6dd2d2 | 152 | else { |
viviien | 35:4cb2ed6dd2d2 | 153 | theta2 = -alpha2+beta2; |
viviien | 35:4cb2ed6dd2d2 | 154 | } |
viviien | 35:4cb2ed6dd2d2 | 155 | |
viviien | 32:60a71dcfdb7a | 156 | } |
viviien | 35:4cb2ed6dd2d2 | 157 | if(beta2>0) { |
viviien | 35:4cb2ed6dd2d2 | 158 | if (beta2<=alpha2) { |
viviien | 35:4cb2ed6dd2d2 | 159 | theta2 = -alpha2+beta2; |
viviien | 35:4cb2ed6dd2d2 | 160 | } |
viviien | 35:4cb2ed6dd2d2 | 161 | else { |
viviien | 35:4cb2ed6dd2d2 | 162 | theta2 = beta2-alpha2; |
viviien | 35:4cb2ed6dd2d2 | 163 | } |
viviien | 35:4cb2ed6dd2d2 | 164 | } |
viviien | 32:60a71dcfdb7a | 165 | } |
viviien | 32:60a71dcfdb7a | 166 | } |
viviien | 32:60a71dcfdb7a | 167 | |
viviien | 32:60a71dcfdb7a | 168 | void delta_calctheta3 () { |
viviien | 32:60a71dcfdb7a | 169 | float xreff = x0*cospi-y0*sinpi; |
viviien | 35:4cb2ed6dd2d2 | 170 | float yreff = y0*cospi+x0*sinpi; |
viviien | 32:60a71dcfdb7a | 171 | float zreff = z0; |
viviien | 32:60a71dcfdb7a | 172 | float y2 = yreff + le; |
viviien | 32:60a71dcfdb7a | 173 | float y1 = f; |
viviien | 32:60a71dcfdb7a | 174 | float z1 = 0.0; |
viviien | 32:60a71dcfdb7a | 175 | float z2 = zreff; |
viviien | 32:60a71dcfdb7a | 176 | float rje2 = re*re - xreff*xreff; |
viviien | 32:60a71dcfdb7a | 177 | float rje = sqrt(rje2); |
viviien | 32:60a71dcfdb7a | 178 | float r2 = (y1-y2)*(y1-y2) + (z1-zreff)*(z1-zreff); |
viviien | 32:60a71dcfdb7a | 179 | float r = sqrt(r2); |
viviien | 32:60a71dcfdb7a | 180 | |
viviien | 32:60a71dcfdb7a | 181 | if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) { |
viviien | 32:60a71dcfdb7a | 182 | int check = 1; |
viviien | 32:60a71dcfdb7a | 183 | pc.printf("\n\rPunt bestaat niet"); |
viviien | 32:60a71dcfdb7a | 184 | } |
viviien | 35:4cb2ed6dd2d2 | 185 | else { |
viviien | 35:4cb2ed6dd2d2 | 186 | float alpha3 = acos((r2 + rf*rf -rje2)/(2*rf*r)); |
viviien | 35:4cb2ed6dd2d2 | 187 | float beta3 = atan((z1+z2)/(y1-y2)); |
viviien | 35:4cb2ed6dd2d2 | 188 | if(beta3<=0) { |
viviien | 35:4cb2ed6dd2d2 | 189 | beta3 = beta3 + pi; |
viviien | 35:4cb2ed6dd2d2 | 190 | if (beta3>=alpha3) { |
viviien | 35:4cb2ed6dd2d2 | 191 | theta3 = beta3-alpha3; |
viviien | 35:4cb2ed6dd2d2 | 192 | } |
viviien | 35:4cb2ed6dd2d2 | 193 | else { |
viviien | 35:4cb2ed6dd2d2 | 194 | theta3 = -alpha3+beta3; |
viviien | 35:4cb2ed6dd2d2 | 195 | } |
viviien | 35:4cb2ed6dd2d2 | 196 | |
viviien | 32:60a71dcfdb7a | 197 | } |
viviien | 35:4cb2ed6dd2d2 | 198 | if(beta3>0) { |
viviien | 35:4cb2ed6dd2d2 | 199 | if (beta3<=alpha3) { |
viviien | 35:4cb2ed6dd2d2 | 200 | theta3 = -alpha3+beta3; |
viviien | 35:4cb2ed6dd2d2 | 201 | } |
viviien | 35:4cb2ed6dd2d2 | 202 | else { |
viviien | 35:4cb2ed6dd2d2 | 203 | theta3 = beta3-alpha3; |
viviien | 35:4cb2ed6dd2d2 | 204 | } |
viviien | 35:4cb2ed6dd2d2 | 205 | } |
viviien | 32:60a71dcfdb7a | 206 | } |
viviien | 32:60a71dcfdb7a | 207 | } |
viviien | 32:60a71dcfdb7a | 208 | |
viviien | 32:60a71dcfdb7a | 209 | |
viviien | 32:60a71dcfdb7a | 210 | |
viviien | 30:390cab7cd6e6 | 211 | |
viviien | 30:390cab7cd6e6 | 212 | Ticker motor_timer; |
viviien | 32:60a71dcfdb7a | 213 | void motor(){ |
viviien | 32:60a71dcfdb7a | 214 | |
viviien | 30:390cab7cd6e6 | 215 | counts1 = Encoder1.getPulses(); |
viviien | 30:390cab7cd6e6 | 216 | counts2 = Encoder2.getPulses(); |
viviien | 30:390cab7cd6e6 | 217 | counts3 = Encoder3.getPulses(); |
viviien | 32:60a71dcfdb7a | 218 | |
viviien | 35:4cb2ed6dd2d2 | 219 | //z0 = 158 - 60* sin(3*time_sin); |
viviien | 33:88fbf14d8aaf | 220 | |
viviien | 35:4cb2ed6dd2d2 | 221 | if (sign == 1) { |
viviien | 35:4cb2ed6dd2d2 | 222 | float r = 20*(1-1/(1+(time_sin))); |
viviien | 35:4cb2ed6dd2d2 | 223 | x0 = savedX0 - r*sin(3*time_sin); |
viviien | 35:4cb2ed6dd2d2 | 224 | y0 = savedY0 - r*cos(3*time_sin); |
viviien | 35:4cb2ed6dd2d2 | 225 | } |
viviien | 33:88fbf14d8aaf | 226 | |
viviien | 29:7eb028b359a1 | 227 | |
viviien | 32:60a71dcfdb7a | 228 | delta_calctheta1 (); |
viviien | 32:60a71dcfdb7a | 229 | delta_calctheta2 (); |
viviien | 32:60a71dcfdb7a | 230 | delta_calctheta3 (); |
viviien | 30:390cab7cd6e6 | 231 | |
viviien | 32:60a71dcfdb7a | 232 | angle1 = counts1/(8400.0)*2.0*pi; |
viviien | 32:60a71dcfdb7a | 233 | angle2 = counts2/(8400.0)*2.0*pi; |
viviien | 32:60a71dcfdb7a | 234 | angle3 = counts3/(8400.0)*2.0*pi; |
viviien | 30:390cab7cd6e6 | 235 | |
viviien | 32:60a71dcfdb7a | 236 | error1 = theta1 - angle1; |
viviien | 32:60a71dcfdb7a | 237 | error2 = theta2 - angle2; |
viviien | 32:60a71dcfdb7a | 238 | error3 = theta3 - angle3; |
viviien | 30:390cab7cd6e6 | 239 | |
viviien | 35:4cb2ed6dd2d2 | 240 | Kp = potmeter1 * 10; |
viviien | 30:390cab7cd6e6 | 241 | |
viviien | 35:4cb2ed6dd2d2 | 242 | u_k1 = 10 * error1; |
viviien | 35:4cb2ed6dd2d2 | 243 | u_k2 = 10 * error2; |
viviien | 35:4cb2ed6dd2d2 | 244 | u_k3 = 10 * error3; |
viviien | 30:390cab7cd6e6 | 245 | |
viviien | 32:60a71dcfdb7a | 246 | newmotor1 = u_k1; |
viviien | 32:60a71dcfdb7a | 247 | newmotor2 = u_k2; |
viviien | 32:60a71dcfdb7a | 248 | newmotor3 = u_k3; |
viviien | 30:390cab7cd6e6 | 249 | |
viviien | 30:390cab7cd6e6 | 250 | if (newmotor1>1.0f){ |
viviien | 35:4cb2ed6dd2d2 | 251 | newmotor1 = 1.0f; |
viviien | 23:18b0be02187f | 252 | } |
viviien | 30:390cab7cd6e6 | 253 | if (newmotor1<-1.0f){ |
viviien | 30:390cab7cd6e6 | 254 | newmotor1 = -1.0f; |
viviien | 30:390cab7cd6e6 | 255 | } |
viviien | 30:390cab7cd6e6 | 256 | |
viviien | 30:390cab7cd6e6 | 257 | if (newmotor2>1.0f){ |
viviien | 30:390cab7cd6e6 | 258 | newmotor2 =1.0f; |
viviien | 30:390cab7cd6e6 | 259 | } |
viviien | 30:390cab7cd6e6 | 260 | if (newmotor2<-1.0f){ |
viviien | 30:390cab7cd6e6 | 261 | newmotor2 = -1.0f; |
viviien | 30:390cab7cd6e6 | 262 | } |
viviien | 30:390cab7cd6e6 | 263 | |
viviien | 30:390cab7cd6e6 | 264 | if (newmotor3>1.0f){ |
viviien | 30:390cab7cd6e6 | 265 | newmotor3 =1.0f; |
viviien | 30:390cab7cd6e6 | 266 | } |
viviien | 30:390cab7cd6e6 | 267 | if (newmotor3<-1.0f){ |
viviien | 30:390cab7cd6e6 | 268 | newmotor3 = -1.0f; |
viviien | 30:390cab7cd6e6 | 269 | } |
viviien | 30:390cab7cd6e6 | 270 | |
viviien | 35:4cb2ed6dd2d2 | 271 | |
viviien | 30:390cab7cd6e6 | 272 | motor1_pwm.write(fabs(newmotor1)); |
viviien | 32:60a71dcfdb7a | 273 | motor1_dir.write(newmotor1<0); |
viviien | 30:390cab7cd6e6 | 274 | |
viviien | 30:390cab7cd6e6 | 275 | motor2_pwm.write(fabs(newmotor2)); |
viviien | 32:60a71dcfdb7a | 276 | motor2_dir.write(newmotor2>0); |
viviien | 30:390cab7cd6e6 | 277 | |
viviien | 30:390cab7cd6e6 | 278 | motor3_pwm.write(fabs(newmotor3)); |
viviien | 32:60a71dcfdb7a | 279 | motor3_dir.write(newmotor3<0); |
viviien | 30:390cab7cd6e6 | 280 | |
viviien | 32:60a71dcfdb7a | 281 | time_sin += 0.002; |
viviien | 30:390cab7cd6e6 | 282 | } |
viviien | 25:eb3204e45d33 | 283 | |
viviien | 32:60a71dcfdb7a | 284 | |
viviien | 28:43a1d67ff8ea | 285 | |
viviien | 28:43a1d67ff8ea | 286 | /////////////////// |
viviien | 28:43a1d67ff8ea | 287 | // MAIN FUNCTION // |
viviien | 28:43a1d67ff8ea | 288 | /////////////////// |
viviien | 28:43a1d67ff8ea | 289 | |
viviien | 35:4cb2ed6dd2d2 | 290 | int main(void) { |
viviien | 35:4cb2ed6dd2d2 | 291 | |
viviien | 35:4cb2ed6dd2d2 | 292 | delta_calctheta1 (); |
viviien | 35:4cb2ed6dd2d2 | 293 | delta_calctheta2 (); |
viviien | 35:4cb2ed6dd2d2 | 294 | delta_calctheta3 (); |
viviien | 35:4cb2ed6dd2d2 | 295 | |
viviien | 35:4cb2ed6dd2d2 | 296 | pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 26:432d3519ba86 | 297 | |
Feike | 17:6da57acb7bea | 298 | char cc = pc.getc(); |
viviien | 30:390cab7cd6e6 | 299 | |
viviien | 35:4cb2ed6dd2d2 | 300 | motor_timer.attach(&motor, 0.002); |
viviien | 35:4cb2ed6dd2d2 | 301 | |
viviien | 35:4cb2ed6dd2d2 | 302 | |
viviien | 30:390cab7cd6e6 | 303 | int frequency_pwm = 10000; //10 kHz PWM |
viviien | 33:88fbf14d8aaf | 304 | motor1_pwm.period_us(6); |
viviien | 33:88fbf14d8aaf | 305 | motor2_pwm.period_us(6); |
viviien | 33:88fbf14d8aaf | 306 | motor3_pwm.period_us(6); |
viviien | 35:4cb2ed6dd2d2 | 307 | |
viviien | 35:4cb2ed6dd2d2 | 308 | pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 309 | pc.printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 310 | pc.printf("\n\rposition (%f %f %f)", x0, y0, z0); |
viviien | 35:4cb2ed6dd2d2 | 311 | |
viviien | 35:4cb2ed6dd2d2 | 312 | |
viviien | 35:4cb2ed6dd2d2 | 313 | |
viviien | 35:4cb2ed6dd2d2 | 314 | pc.baud(115200); |
Feike | 19:9c8ab7922191 | 315 | |
viviien | 28:43a1d67ff8ea | 316 | while(true){ |
viviien | 33:88fbf14d8aaf | 317 | |
viviien | 35:4cb2ed6dd2d2 | 318 | while (boxcheckC == 0) { |
viviien | 35:4cb2ed6dd2d2 | 319 | if (boxcheckA == 1 && x0>=-76 && x0<=75) { |
viviien | 35:4cb2ed6dd2d2 | 320 | x0=x0+1.0f ; |
viviien | 35:4cb2ed6dd2d2 | 321 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 322 | } |
viviien | 35:4cb2ed6dd2d2 | 323 | if (boxcheckB== 1 && x0>=-75 && x0<=76) { |
viviien | 35:4cb2ed6dd2d2 | 324 | x0=x0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 325 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 326 | } |
viviien | 35:4cb2ed6dd2d2 | 327 | } |
viviien | 33:88fbf14d8aaf | 328 | |
viviien | 35:4cb2ed6dd2d2 | 329 | wait(1.5); |
viviien | 35:4cb2ed6dd2d2 | 330 | savedX = x0; |
viviien | 35:4cb2ed6dd2d2 | 331 | |
viviien | 35:4cb2ed6dd2d2 | 332 | while (boxcheckC == 0) { |
viviien | 35:4cb2ed6dd2d2 | 333 | if (boxcheckA==1 && y0>=-76 && y0<=75){ |
viviien | 35:4cb2ed6dd2d2 | 334 | y0=y0+1.0f; |
viviien | 35:4cb2ed6dd2d2 | 335 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 336 | } |
viviien | 35:4cb2ed6dd2d2 | 337 | if (boxcheckB==1 && y0>=-75 && y0<=76){ |
viviien | 35:4cb2ed6dd2d2 | 338 | y0=y0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 339 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 340 | } |
viviien | 35:4cb2ed6dd2d2 | 341 | } |
viviien | 35:4cb2ed6dd2d2 | 342 | |
viviien | 35:4cb2ed6dd2d2 | 343 | wait(1.5); |
viviien | 35:4cb2ed6dd2d2 | 344 | savedY = y0; |
viviien | 35:4cb2ed6dd2d2 | 345 | |
viviien | 35:4cb2ed6dd2d2 | 346 | while (boxcheckC == 0) { |
viviien | 35:4cb2ed6dd2d2 | 347 | if (boxcheckA == 1 && z0>=-179 && z0<=-158){ |
viviien | 35:4cb2ed6dd2d2 | 348 | z0=z0+1.0f; |
viviien | 35:4cb2ed6dd2d2 | 349 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 350 | } |
viviien | 35:4cb2ed6dd2d2 | 351 | if (boxcheckB == 1 && z0>=-178 && z0<=-157){ |
viviien | 35:4cb2ed6dd2d2 | 352 | z0=z0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 353 | wait(1.0/20); |
viviien | 35:4cb2ed6dd2d2 | 354 | } |
viviien | 35:4cb2ed6dd2d2 | 355 | } |
viviien | 35:4cb2ed6dd2d2 | 356 | |
viviien | 35:4cb2ed6dd2d2 | 357 | wait(1.5); |
viviien | 35:4cb2ed6dd2d2 | 358 | savedZ = z0; |
viviien | 35:4cb2ed6dd2d2 | 359 | |
viviien | 35:4cb2ed6dd2d2 | 360 | if (boxcheckC == 1) { |
viviien | 35:4cb2ed6dd2d2 | 361 | sign = 1; |
viviien | 35:4cb2ed6dd2d2 | 362 | } |
viviien | 35:4cb2ed6dd2d2 | 363 | |
viviien | 35:4cb2ed6dd2d2 | 364 | wait(5.0); |
viviien | 35:4cb2ed6dd2d2 | 365 | |
viviien | 35:4cb2ed6dd2d2 | 366 | sign = 0; |
viviien | 35:4cb2ed6dd2d2 | 367 | |
viviien | 35:4cb2ed6dd2d2 | 368 | float diffZ = -158 - z0; |
viviien | 35:4cb2ed6dd2d2 | 369 | float diffX = 0 - x0; |
viviien | 35:4cb2ed6dd2d2 | 370 | float diffY = 0 - y0; |
viviien | 35:4cb2ed6dd2d2 | 371 | |
viviien | 35:4cb2ed6dd2d2 | 372 | for (int i=0; i<=diffZ; i++) { |
viviien | 35:4cb2ed6dd2d2 | 373 | z0 = z0+1; |
viviien | 35:4cb2ed6dd2d2 | 374 | } |
viviien | 35:4cb2ed6dd2d2 | 375 | |
viviien | 35:4cb2ed6dd2d2 | 376 | for (int i=0; i<=diffY; i++) { |
viviien | 35:4cb2ed6dd2d2 | 377 | if (diffY>0) { |
viviien | 35:4cb2ed6dd2d2 | 378 | y0 = y0+1; |
viviien | 35:4cb2ed6dd2d2 | 379 | } |
viviien | 35:4cb2ed6dd2d2 | 380 | if (diffY<0) { |
viviien | 35:4cb2ed6dd2d2 | 381 | y0 = y0-1; |
viviien | 35:4cb2ed6dd2d2 | 382 | } |
viviien | 35:4cb2ed6dd2d2 | 383 | } |
viviien | 35:4cb2ed6dd2d2 | 384 | |
viviien | 35:4cb2ed6dd2d2 | 385 | for (int i=0; i<=diffX; i++) { |
viviien | 35:4cb2ed6dd2d2 | 386 | if (diffX>0) { |
viviien | 35:4cb2ed6dd2d2 | 387 | x0 = x0+1; |
viviien | 35:4cb2ed6dd2d2 | 388 | } |
viviien | 35:4cb2ed6dd2d2 | 389 | if (diffX<0) { |
viviien | 35:4cb2ed6dd2d2 | 390 | x0 = x0-1; |
viviien | 35:4cb2ed6dd2d2 | 391 | } |
viviien | 35:4cb2ed6dd2d2 | 392 | } |
viviien | 35:4cb2ed6dd2d2 | 393 | |
viviien | 35:4cb2ed6dd2d2 | 394 | break; |
viviien | 35:4cb2ed6dd2d2 | 395 | |
viviien | 35:4cb2ed6dd2d2 | 396 | |
viviien | 35:4cb2ed6dd2d2 | 397 | |
viviien | 35:4cb2ed6dd2d2 | 398 | // pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 399 | // pc.printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 400 | // wait(0.1); |
viviien | 35:4cb2ed6dd2d2 | 401 | |
viviien | 35:4cb2ed6dd2d2 | 402 | |
viviien | 35:4cb2ed6dd2d2 | 403 | // char cc = pc.getc(); |
viviien | 35:4cb2ed6dd2d2 | 404 | // if (cc=='d' && x0>=-76 && x0<=75) { |
viviien | 35:4cb2ed6dd2d2 | 405 | // x0=x0+1.0f ; |
viviien | 35:4cb2ed6dd2d2 | 406 | // } |
viviien | 35:4cb2ed6dd2d2 | 407 | // |
viviien | 35:4cb2ed6dd2d2 | 408 | // if (cc=='a' && x0>=-75 && x0<=76) { |
viviien | 35:4cb2ed6dd2d2 | 409 | // |
viviien | 35:4cb2ed6dd2d2 | 410 | // x0=x0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 411 | // } |
viviien | 35:4cb2ed6dd2d2 | 412 | // |
viviien | 35:4cb2ed6dd2d2 | 413 | // if (cc=='w' && y0>=-76 && y0<=75){ |
viviien | 35:4cb2ed6dd2d2 | 414 | // y0=y0+1.0f; |
viviien | 35:4cb2ed6dd2d2 | 415 | // pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 416 | // pc.printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 417 | // pc.printf("\n\rposition (%f %f %f)", x0, y0, z0); |
viviien | 35:4cb2ed6dd2d2 | 418 | // |
viviien | 35:4cb2ed6dd2d2 | 419 | // } |
viviien | 35:4cb2ed6dd2d2 | 420 | // |
viviien | 35:4cb2ed6dd2d2 | 421 | // if (cc=='s' && y0>=-75 && y0<=76){ |
viviien | 35:4cb2ed6dd2d2 | 422 | // y0=y0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 423 | // pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 424 | // pc .printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 425 | // pc.printf("\n\rposition (%f %f %f)", x0, y0, z0); |
viviien | 35:4cb2ed6dd2d2 | 426 | // } |
viviien | 35:4cb2ed6dd2d2 | 427 | // |
viviien | 35:4cb2ed6dd2d2 | 428 | // if (cc=='u' && z0>=-211 && z0<=-130){ |
viviien | 35:4cb2ed6dd2d2 | 429 | // pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 430 | // pc.printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 431 | // pc.printf("\n\rposition (%f %f %f)", x0, y0, z0); |
viviien | 35:4cb2ed6dd2d2 | 432 | // z0=z0+1.0f; |
viviien | 35:4cb2ed6dd2d2 | 433 | // } |
viviien | 35:4cb2ed6dd2d2 | 434 | // |
viviien | 35:4cb2ed6dd2d2 | 435 | // if (cc=='j' && z0>=-210 && z0<=-129){ |
viviien | 35:4cb2ed6dd2d2 | 436 | // pc.printf("\n\rtheta1 %f, theta2 %f, theta3 %f", theta1, theta2, theta3); |
viviien | 35:4cb2ed6dd2d2 | 437 | // pc.printf("\n\rangle1 %f, angle2 %f, angle3 %f", angle1, angle2, angle3); |
viviien | 35:4cb2ed6dd2d2 | 438 | // pc.printf("\n\rposition (%f %f %f)", x0, y0, z0); |
viviien | 35:4cb2ed6dd2d2 | 439 | // z0=z0-1.0f; |
viviien | 35:4cb2ed6dd2d2 | 440 | // } |
viviien | 22:9f911405e096 | 441 | } |
viviien | 32:60a71dcfdb7a | 442 | //END MAIN |
viviien | 22:9f911405e096 | 443 | } |