20/6/18 experiment wt hormone
Dependencies: Servo TurtleBot_V6 mbed-rtos mbed
Fork of TurtleBot_v00 by
main.cpp
- Committer:
- worasuchad
- Date:
- 2018-06-21
- Revision:
- 4:ec7e68b84f2b
- Parent:
- 3:5e867483469e
File content as of revision 4:ec7e68b84f2b:
////////////////////////////////////////////////////////////////// // project: TurtleBot Project // // code v.: 0.0 // // board : NUCLEO-F303KB // // date : 19/6/2018 // // code by: Worasuchad Haomachai // // detail : Modify IMU thread // ////////////////////////////////////////////////////////////////// ///////////////////////// init //////////////////////////////// ////////////////////////////////////////////////////////////////// #include "mbed.h" #include "Servo.h" #include "rtos.h" #include "attitude.h" #include "math.h" Serial pc(USBTX, USBRX); //Serial Port Timer timer1; Timer timerwalk; Thread thread1; Thread thread2; Servo Servo1(D6); Servo Servo2(D8); Servo Servo3(D9); Servo Servo4(D10); ///////////////////////// prototype func /////////////////////// ////////////////////////////////////////////////////////////////// void IMU(); void servo(); /////// In servo ////// void cal_step_down(); void cal_step_up(); void servo_Left(); void servo_Right(); ////////////////////// void receive_hormone(); float calculateSD(float data[]); float calculateMean(float meanData[]); float HormoneCon(float SiPreProcess); bool directionRobot(float directionMean, float directionSD); ///////////////////////// variable /////////////////////////////// ////////////////////////////////////////////////////////////////// // home param int walking_time; int initDirection = 0; // hormone param float Cg_down = 0.00; float Cg_up = 0; float Cg = 0.00, CgPrevious = 0.00; // servo motor param float pos_down_start = 1400.00; float pos_up_start = 1000.00; float down_degree = 90.00; float up_degree = 45.00; float stepmin = 1; float round = 5; float waittime = 0.001 ; float pos_down_left = 1400.00; float pos_up_left = 1000.00; float pos_down_end_left; float pos_up_end_left; float state_count_left = 1; float round_count_left = 1; float step_down_left; float step_up_left; float pos_down_right = 1400.00; float pos_up_right = 1000.00; float pos_down_end_right; float pos_up_end_right; float state_count_right = 1; float round_count_right = 1; float step_up_right; float step_down_right; ///////////////////////// main //////////////////////////// ////////////////////////////////////////////////////////////////// int main() { pc.baud(115200); timer1.start(); // start timer counting attitude_setup(); // IMU setup //thread1.start(IMU); // IMU thread start pc.printf(" Please press! '1' to start..\n\r"); if (pc.getc() == '1') { thread1.start(IMU); // IMU thread start //thread2.start(servo); // servo thread start } } ///////////////////////// IMU ///////////////////////////// ////////////////////////////////////////////////////////////////// void IMU() { int i; float ArrayOfRoll[10], ArrayOfYaw[10]; float SDOfRoll, SDOfYaw, MeanOfYaw, directOfRobot = 0.00; /* pc.printf("roll\t"); pc.printf("Si\t"); pc.printf("Cg\t"); pc.printf("down\t"); pc.printf("up\n"); */ while(1) { if (timer1.read_us() >= 1000) // read time in 1 ms { attitude_get(); //pc.printf(" %f \t", ax*10 ); //pc.printf(" %f \t", ay*10 ); //pc.printf(" %f \t", az*10-10); //cm/s*s //pc.printf("%f\t %f\t %f\n\r", roll, pitch, yaw); pc.printf("%f\n\r",yaw); //pc.printf("up\t"); //pc.printf("%f \t",up_degree); //pc.printf("%f\t",Cg); //pc.printf("down\t"); //pc.printf("%f \t",down_degree); //pc.printf("%f\n",Cg); ////////////////////////// Signal Pre-Process every 10 ms ////////////////////// //////////////////////////////////////////////////////////////////////////////// if(i < 10) { ArrayOfRoll[i] = roll; ArrayOfYaw[i] = yaw; //pc.printf("i = %i ,ArrayOfRoll = %.2f, roll= %.2f\n\r",i, ArrayOfRoll[i], roll); i++; } else { //////////// roll ////////////// //pc.printf("Roll - Standard Deviation = %.2f \n\r", calculateSD(ArrayOfRoll)); // every 10 ms SDOfRoll = calculateSD(ArrayOfRoll); //pc.printf("HC: %.3f\n\r", HormoneCon(SDOfRoll)); HormoneCon(SDOfRoll); //////////// yaw /////////////// MeanOfYaw = calculateMean(ArrayOfYaw); pc.printf("MeanOfYaw: %.3f\n\r", MeanOfYaw); SDOfYaw = calculateSD(ArrayOfYaw); pc.printf("SDOfYaw: %.3f\n\r", SDOfYaw); if(directionRobot(MeanOfYaw, SDOfYaw)) // only one time for comming { directOfRobot = MeanOfYaw; // direction of robot thread2.start(servo); // Servo Thread pc.printf("::::::::::::::::::::::::::: Init Direction OK :::::::::::::::::::::::::::\n\r"); } pc.printf("directOfRobot: %.3f\n\r", directOfRobot); if(directOfRobot > SDOfYaw) { pc.printf("Turn Left: %.3f\n\r", (directOfRobot - MeanOfYaw)); } else { pc.printf("Turn Right: %.3f\n\r", (MeanOfYaw - directOfRobot)); } // func find diff beween directOfRobot and MeanOfYaw //pc.printf("Diff from direction: %.3f\n\r", abs(directOfRobot - MeanOfYaw)); // reset iteration i = 0; } timer1.reset(); // reset timer } } } ///////////////////////// servo /////////////////////////// ////////////////////////////////////////////////////////////////// void servo() { Servo1.Enable(1000,20000); Servo2.Enable(1000,20000); Servo3.Enable(1000,20000); Servo4.Enable(1000,20000); pc.printf("Servo Start Ja!!!\n"); timerwalk.start(); // start timer counting /*pc.printf("Si\t"); pc.printf("%f \t",Si); pc.printf("down\t"); pc.printf("%f \t",down_degree); pc.printf("%f\t",Cg); pc.printf("up\t"); pc.printf("%f \t",up_degree); pc.printf("%f\n",Cg);*/ while(1) { receive_hormone(); cal_step_down(); // return "step_down_right" and "step_down_left" cal_step_up(); // return "step_up_right" and "step_up_left" servo_Left(); // control left lag servo_Right(); // control right leg // fin for walking if (state_count_left == 0 and round_count_left == round and state_count_right == 0 and round_count_right == round) { thread1.terminate(); pc.printf("Finish! \t"); walking_time = timerwalk.read_ms(); pc.printf("Walking time = %d ms\n\r", walking_time); break; } } } ///////////////////////// receive_hormone ///////////////// ////////////////////////////////////////////////////////////////// void receive_hormone() { //down_degree = 90.00f*(1.00f-(0.06f*Cg_down)); down_degree = 83.50; /*pc.printf("down\t"); pc.printf("%f \t",down_degree); pc.printf("%f\t",Cg);*/ //up_degree = 45.00f*(1.00f+(0.7f*Cg_up)); up_degree = 45.00; /*pc.printf("up\t"); pc.printf("%f \t",up_degree); pc.printf("%f\n",Cg); if(down_degree < 85) { down_degree = 85; if(up_degree > 75) { up_degree = 75; } }*/ } ///////////////////////// cal_step_down /////////////////// ////////////////////////////////////////////////////////////////// void cal_step_down() { //pc.printf("down"); //pc.printf("%f \n",down_degree); pos_down_end_left = (1000.00 + ((700.00/90.00)*(down_degree))); // get degree for hormone receiver about down_degree ~ 90*, pos_down_end_right = (1070.00 + ((700.00/90.00)*(down_degree))); // so both pos_down_end_left and pos_down_end_right are around 1700 if (pos_down_end_right > pos_down_end_left) { step_down_right = (pos_down_end_right - pos_down_start)*stepmin/(pos_down_end_left - pos_down_start); //stepmin = 1, pos_down_start = 1400.00 step_down_left = stepmin; } else if (pos_down_end_right < pos_down_end_left) { step_down_right = stepmin; step_down_left = (pos_down_end_left - pos_down_start)*stepmin/(pos_down_end_right - pos_down_start); } else // pos_down_end_right == pos_down_end_left { step_down_right = stepmin; step_down_left = stepmin; } /*pc.printf("pos_down_right: "); pc.printf("%f\t\t",pos_down_end_right); pc.printf("pos_down_left: "); pc.printf("%f\t\t",pos_down_end_left); pc.printf("step_down_right: "); pc.printf("%f\t\t",step_down_right); pc.printf("step_down_left: "); pc.printf("%f\n\r",step_down_left);*/ } ///////////////////////// cal_step_up ///////////////////// ////////////////////////////////////////////////////////////////// void cal_step_up() { //pc.printf("up"); //pc.printf("%f \n",up_degree); pos_up_end_left = 1000.00 + ((700.00/90.00)*(up_degree)); // get degree for hormone receiver about up_degree ~ 45*, pos_up_end_right = 1000.00 + ((700.00/90.00)*(up_degree)); // so both pos_up_end_left and pos_up_end_right are around 1350 if (pos_up_end_right > pos_up_end_left) { step_up_right = (pos_up_end_right - pos_up_start)*stepmin/(pos_up_end_left - pos_up_start); //stepmin = 1, pos_up_start = 1000.00 step_up_left = stepmin; } else if (pos_up_end_right < pos_up_end_left) { step_up_right = stepmin; step_up_left = (pos_up_end_left - pos_up_start)*stepmin/(pos_up_end_right - pos_up_start); } else // step_up_right == step_up_left { step_up_right = stepmin; step_up_left = stepmin; } /*pc.printf("pos_up_right: "); pc.printf("%f\t\t",pos_up_end_right); pc.printf("pos_up_left: "); pc.printf("%f\t\t",pos_up_end_left); pc.printf("step_up_right: "); pc.printf("%f\t\t",step_up_right);; pc.printf("step_up_left: "); pc.printf("%f\n\r",step_up_left);*/ } ///////////////////////// servo_Left ////////////////////// ////////////////////////////////////////////////////////////////// void servo_Left() { if(state_count_left == 1) { Servo1.SetPosition(pos_down_left); // pos_down_left = 1400.00 wait(waittime); // 0.001 ms pos_down_left += step_down_left; if(pos_down_left >= pos_down_end_left + step_down_left and pos_up_left == pos_up_start) // pos_down_end_left ~ 1700 { state_count_left = 2; } /*pc.printf("LAD"); pc.printf("%f\n",pos_down_left); pc.printf("LAP"); pc.printf("%f\n",pos_up_left);*/ } else if(state_count_left == 2) { Servo2.SetPosition(pos_up_left); // pos_up_left = 1000.00 wait(waittime); pos_up_left += step_up_left; if(pos_down_left >= pos_down_end_left + step_down_left and pos_up_left >= pos_up_end_left + step_up_left) { state_count_left = 3; } /*pc.printf("LBD"); pc.printf("%f\n",pos_down_left); pc.printf("LBP"); pc.printf("%f\n",pos_up_left);*/ } else if(state_count_left == 3) { Servo1.SetPosition(pos_down_left); wait(waittime); pos_down_left -= step_down_left; if(pos_down_left <= pos_down_start - step_down_left and pos_up_left >= pos_up_end_left + step_up_left) { state_count_left = 4; } /*pc.printf("LCD"); pc.printf("%f\n",pos_down_left); pc.printf("LCP"); pc.printf("%f\n",pos_up_left);*/ } else if(state_count_left == 4) { Servo2.SetPosition(pos_up_left); wait(waittime); pos_up_left -= step_up_left; if(pos_down_left <= pos_down_start - step_down_left and pos_up_left <= pos_up_start - step_up_left) { state_count_left = 0; } /*pc.printf("LDD"); pc.printf("%f\n",pos_down_left); pc.printf("LDP"); pc.printf("%f\n",pos_up_left);*/ } else if (state_count_left == 0 and round_count_left < round) { round_count_left++; state_count_left = 1; pos_down_left = pos_down_start; pos_up_left = pos_up_start; } } ///////////////////////// servo_Right ///////////////////// ////////////////////////////////////////////////////////////////// void servo_Right() { if(state_count_right == 1) { Servo3.SetPosition(pos_down_right); wait(waittime); pos_down_right = pos_down_right + step_down_right; if(pos_down_right >= pos_down_end_right + step_down_right and pos_up_right == pos_up_start) { state_count_right = 2; } /*pc.printf("RAD"); pc.printf("%f\n",pos_down_right); pc.printf("RAP"); pc.printf("%f\n",pos_up_right);*/ } else if(state_count_right == 2) { Servo4.SetPosition(pos_up_right); wait(waittime); pos_up_right = pos_up_right + step_up_right; if(pos_down_right >= pos_down_end_right + step_down_right and pos_up_right >= pos_up_end_right + step_up_right) { state_count_right = 3; } /*pc.printf("RBD"); pc.printf("%f\n",pos_down_right); pc.printf("RBP"); pc.printf("%f\n",pos_up_right);*/ } else if(state_count_right == 3) { Servo3.SetPosition(pos_down_right); wait(waittime); pos_down_right = pos_down_right - step_down_right; if(pos_down_right <= pos_down_start - step_down_right and pos_up_right >= pos_up_end_right + step_up_right) { state_count_right = 4; } /*pc.printf("RCD"); pc.printf("%f\n",pos_down_right); pc.printf("RCP"); pc.printf("%f\n",pos_up_right);*/ } else if(state_count_right == 4) { Servo4.SetPosition(pos_up_right); wait(waittime); pos_up_right = pos_up_right - step_up_right; if(pos_down_right <= pos_down_start - step_down_right and pos_up_right <= pos_up_start - step_up_right) { state_count_right = 0; } /*pc.printf("RDD"); pc.printf("%f\n",pos_down_right); pc.printf("RDP"); pc.printf("%f\n",pos_up_right);*/ } else if (state_count_right == 0 and round_count_right < round) { round_count_right = round_count_right+1; state_count_right = 1; pos_down_right = pos_down_start; pos_up_right = pos_up_start; } } ///////////////// Hormone Concentration ///////////////////// ////////////////////////////////////////////////////////////////// float HormoneCon(float SiPreProcess) { float CgTemp; //pc.printf("SiPreProcess: %.3f\t", SiPreProcess); //pc.printf("CgPrevious: %.3f\t", CgPrevious); ////// hormone gland ////// CgTemp = (0.8f*SiPreProcess) + (0.5f*CgPrevious); //pc.printf("CgTemp: %.3f\t", CgTemp); Cg = 1/( 1+exp(-CgTemp) ); // used sigmoid func for calculating Cg which much have value between 0 - 1 /////////////////////////// //pc.printf("First Term: %.3f\t", (float)(0.8f*SiPreProcess)); //pc.printf("Secound Term: %.3f\t", (float)(0.5f*CgPrevious)); CgPrevious = Cg; //*********// Cg_down = Cg; Cg_up = Cg; return Cg; } ///////////////////////// calculateSD ///////////////////// ////////////////////////////////////////////////////////////////// float calculateSD(float sdData[]) { float sum = 0.0, mean, standardDeviation = 0.0; int i; for(i = 0; i < 10 ; ++i) { sum += sdData[i]; //pc.printf("sum = %.2f \n\r",sum); } mean = sum/10; //pc.printf("mean = %.2f \n\r",mean); for(i = 0; i < 10; ++i) { standardDeviation += pow(sdData[i] - mean, 2); //pc.printf("standardDeviation = %.2f \n\r",standardDeviation); } return sqrt(standardDeviation / 10); } ///////////////////////// calculateMean /////////////////// ////////////////////////////////////////////////////////////////// float calculateMean(float meanData[]) { float sum = 0.0, mean; int i; for(i = 0; i < 10 ; ++i) { sum += meanData[i]; //pc.printf("sum = %.2f \n\r",sum); } mean = sum/10; //pc.printf("mean = %.2f \n\r",mean); return mean; } ///////////////////////// directionRobot ////////////////// ////////////////////////////////////////////////////////////////// bool directionRobot(float directionMean, float directionSD) { if( directionSD < 0.06f and initDirection == 0 ) { initDirection++; return 1; } return 0; }