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LegsRoboClaw.ino
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LegsRoboClaw.ino
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/* modified for mega and roboclaw
* roboclaw right leg 2X15A firmware 4.1.23 hardware V5D Oct 1
* roboclaw left leg 2X15A firmware 4.1.23 hardware V5D Oct 6
* roboclaw hips (older 2X15A firmware 4.1.23 hardware V5D Nov 7
* trying to use position command on roboclaw instead of distance Jan 5
*/
#include <Arduino.h>
#include <stdio.h>
#include <Servo.h> // used for toes and rotation of ankles
#include <Wire.h> // needed for compass
#include <SPI.h>
#include "RoboClaw.h"
Servo ToeServoR; // create servo object for toe right
Servo ToeServoL; // create servo object for toe left
Servo AnkleServoR; // create servo object for ankle right
Servo AnkleServoL; // create servo object for ankle left
String sBuffer = ""; // string to hold asci string
String inString = ""; // string to hold numbers
char c; // used in input key many places
char str[64];
String verDate = "Jan 16,2018 morning";
int LeftKneeCnt = 0; // current positon of various joints
int LeftAnkleCnt = 0;
int LeftHipCnt = 0;
int LeftHipSw = 0;
int LeftKneeSw = 0;
int LeftAnkleSw = 0;
int LeftToe = 100; // servo starting position of toe
int LeftKneeSpd = 0;
int LeftAnkleSpd = 0;
int LeftHipSpd = 0;
int LeftAnkleRot = 95; // starting position should be level with floor
int RightKneeCnt = 0;
int RightAnkleCnt = 0;
int RightHipCnt = 0;
int RightHipSw = 0;
int RightKneeSw = 0;
int RightAnkleSw = 0;
int RightToe = 100; // servo starting position of toe
int RightKneeSpd = 0;
int RightAnkleSpd = 0;
int RighHipSpd = 0;
int RightAnkleRot = 90; // starting position should be level with floor
int LeftRoll;
int LeftPitch;
int LeftYaw;
int RightRoll;
int RightPitch;
int RightYaw;
int i = 0;
int LedCnt = 0; // heart beat on mega board
int swleg = 0;
int address = 0x80; // this could be 80, 81, 82 for roboclaw boards
int AnalogPins[8] = {0,1,2,3,4,5,6,7}; // analog pins 4 limit switches and 4 photo sensors
int agDist[8]; // storage area for above values
int NumIn = 0; // keypad number integer number input
int aval; // analog value used many places
int SignString = 0;
bool AnySpeed;
const byte redLEDpin = 13; // Pin heart beat
const int HipRight = 9; // limit switch for hip
const int HipLeft = 8;
// used for special delay
unsigned long interval = 5000; // the time we need to wait
unsigned long previousMillis = 0; // millis() returns an unsigned long.
unsigned long currentMillis = 0;
// Serial1 pins 19(RX) 18(TX), Serial2 pins 17(RX) 16(TX), Serial3 pins 15(RX) 14(TX)
RoboClaw roboclawR(&Serial1,10000); // was 10000
int OutputPinCount = 5; // number of channels in use
const int MaOutputPins [] =
{
5, // right toe servo
4, // left toe servo
6, // left ankle servo
7, // right ankle servo
13, // heart beat led
};
void setup() {
//Open Serial terminal and roboclaws at 38400bps
Serial.begin( 57600 ); // terminal
// roboclawR.begin( 9600 ); // both legs and hips lowered baud rate jan 10
// roboclawR.begin( 19200 ); // both legs and hips lowered baud rate jan 8
roboclawR.begin( 38400 ); // both legs and hips
Serial.println( " " );
Serial.print( "Leg Control " );
Serial.println( verDate );
Serial2.begin( 38400 ); // gyro left foot
Serial3.begin( 38400 ); // gyro right foot
for (int i = 0; i < OutputPinCount; i++)
{
pinMode( MaOutputPins [i], OUTPUT ); // set to output mode
digitalWrite (MaOutputPins [i], LOW); // set chip enable off
}
pinMode( 8, INPUT ); // limit switch hip right
pinMode( 9, INPUT ); // limit switch hip left
pinMode( 10, INPUT );
pinMode( 11, INPUT );
pinMode( 12, INPUT );
digitalWrite( 13, LOW); // led off
// servo setup pins for toes and rotation of ankles
ToeServoR.attach(MaOutputPins [0]);
ToeServoL.attach(MaOutputPins [1]);
AnkleServoL.attach(MaOutputPins [2]);
AnkleServoR.attach(MaOutputPins [3]);
/* looking at QPPS again on Nov 10 spent most of day
* values from auto tuning in ion studio are being used
* SO NOT SETTING LISTED HERE!
*
* Knee Actobotics 142rpm 12 volt motor, max current 4.9a
* 142rpm * 84 gear ratio * 12 counts/rev and divide by 60sec = 2385 for QPPS
* Ankle Actobotics 116rpm 12 volt motor, max current 4.9a
* 116rpm * 103 gear ratio * 12 counts/rev and divide by 60sec = 2390 for QPPS
* Hip Actobotics 52rpm 12 volt motor, max current 4.9a
* 52rpm * 231 gear ratio * 12 counts/rev and divide by 60sec = 2400 for QPPS
*hip left M1 Vp16046, Vi 3275, Vd 0, QPPS 2110
*hipright M2 Vp14304, Vi 2974, Vd 0, QPPS 2096
#define Kp 1.0
#define Ki 0.5
#define Kd 0.0
#define qpps 2200
//Set PID Coefficients
roboclawR.SetM1VelocityPID( 0x80,Kd,Kp,Ki,qpps); // right ankle
roboclawR.SetM2VelocityPID( 0x80,Kd,Kp,Ki,qpps); // right knee
roboclawR.SetM1VelocityPID( 0x81,Kd,Kp,Ki,qpps); // left ankle
roboclawR.SetM2VelocityPID( 0x81,Kd,Kp,Ki,qpps); // left knee
roboclawR.SetM1VelocityPID( 0x82,Kd,Kp,Ki,qpps); // left hip
roboclawR.SetM2VelocityPID( 0x82,Kd,Kp,Ki,qpps); // right hip
*/
AllStop( 'R' ); // stop everything and reset encoders
Compass_Left_Foot( 'N' ); // dump compass data left foot
Compass_Right_Foot( 'N' ); // dump compass data right foot
while (Serial.available() > 0) // clean out any characters in serial buffer at start up
c = Serial.read(); // dump keys in dont need
// roboclawR.clear();
}
void loop()
{
LedCnt ++; // just a blinking led on mega heart
if( LedCnt > 25 )
{
digitalWrite(redLEDpin, digitalRead(redLEDpin) ^ 1); // toggle RED LED pin heart beat
LedCnt = 0;
}
delay( 50 );
if (Serial.available () > 0)
{
SignString = 1; // positive number
while (Serial.available () > 0)
{
delay (10);
c = Serial.read ();
if (c == '\r') // look for end of line to exit
{
NumIn = inString.toInt(); // Convert readString into a number
NumIn = constrain(NumIn, -12001, 12001); // limit number
// next print lines for testing
Serial.print( ">" ); // Echo captured string
Serial.println( sBuffer ); // Echo captured string
ProcessCommand();
sBuffer = ""; // reset buffer and inString
inString = "";
NumIn = 0; // reset integer number
continue;
}
sBuffer += c; // make string
if( isDigit(c) )
inString += c; // save just number
if( c == '-' )
{
SignString = -1; // save negative sign
inString += c;
}
} // end while
} // end if serial
}
void ProcessCommand ()
{
if (sBuffer.length () > 0)
{
sBuffer.toUpperCase ();
if( sBuffer[0] == 'E' ) // errors and buffer status
WaitBuffer();
if( sBuffer[0] == 'B' ) // bend down
BendDown();
if( sBuffer[0] == 'G' ) // compass left and right foot display
{
Compass_Left_Foot( 'D' );
Compass_Right_Foot( 'D' );
}
if( sBuffer[0] == 'D' ) // show me all data
{
roboclawR.clear();
roboclawR.flush();
displayspeed( 'D' ); // 1 turns on display
// Compass_Left_Foot( 'D' ); // D turns on display
// Compass_Right_Foot( 'D' );
}
if( sBuffer[0] == 'F' ) // stand on one foot
LeftFoot();
if( sBuffer[0] == 'H' ) // find center for hips
CenterHips( 'B' ); // B for both hips could do L or R
if( sBuffer[0] == 'K' ) // both knees to home
{
KneeLeftLS();
KneeRightLS();
}
if( sBuffer[0] == 'L' ) // level feet
{
LevelLeftFt();
LevelRightFt();
}
if( sBuffer[0] == 'N' ) // using number pad to control leg in samll steps
NumDrive();
if( sBuffer[0] == 'C' ) // read current
DisAmps();
if( sBuffer[0] == 'S' ) // motors stop if 2nd char is R the encoders are reset
AllStop( sBuffer[ 1 ] );
if( sBuffer[0] == 'W' ) // step and walk
{
Step();
// delay( 500 );
// Step();
}
if( sBuffer[0] == 'T' ) // zero encoder
TestPID(); // figure out pid values
if( sBuffer[0] == 'Z' ) // zero encoder
ZeroEnc( NumIn ); // 1=right ankle 2=right knee 3=left ankle 4=left knee
else
Serial.println( "?" );
}
}
// uses knees and ankles to bend down, limit is plastic knee parts
void BendDown()
{
Serial.println( "*** bend knees & ankles, keep feet flat" );
// reset encoders next line will cause an error when running several times
// there is a deadzone on the position command of 10
// so the commands telling position of 0 maybe up to 10 off
AllStop( 'R' ); // no where we start and set encoders to zero
displayspeed( 'D' ); // just to see where we start
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,4000,4000,7000,1);
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,4000,4000,7000,1);
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,4000,4000,-6500,1);
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,4000,4000,-6500,1);
roboclawR.SpeedAccelDeccelPositionM1(0x82,800,500,500,-1500,1);
roboclawR.SpeedAccelDeccelPositionM2(0x82,800,500,500,1500,1);
delay( 4000 ); // just see stop in between commands
WaitSpeed(); // wait for speed to be 0
displayspeed( 'D' );
Serial.println( "**** straighten knees & ankles down, feet flat" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,4000,4000,50,0); // almost all the way back
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,4000,4000,50,0);
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,4000,4000,0,0);
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,4000,4000,0,0);
roboclawR.SpeedAccelDeccelPositionM1(0x82,800,500,500,0,0); // move left hip
roboclawR.SpeedAccelDeccelPositionM2(0x82,800,500,500,0,0); // move right hip
delay( 4000 ); // just see stop in between commands
WaitSpeed(); // wait for speed to be 0
KneeRightLS(); // find limit switch
KneeLeftLS();
WaitSpeed(); // wait for speed to be 0
displayspeed( 'D' );
Serial.println( "*** Kneel Done" );
}
// use pitch to level left foot
void LevelLeftFt()
{
int LevelAnkleL = 1;
int t = 0;
Serial.println( "*** level left foot" );
Compass_Left_Foot( 'N' ); // clean out que
for( int q=0; q<15; q++ )
{
Compass_Left_Foot( 'D' ); // check pitch
LevelAnkleL = (-LeftPitch) * 15; // compass reading ankle
Serial.println( LevelAnkleL ); // for testing
if( (LeftPitch > -2) && (LeftPitch < 2) )
{
LevelAnkleL = 0;
Serial.println( "%%% left ankle level" );
Compass_Left_Foot( 'D' );
q = 25; // just a way out of for loop
}
t = abs(LevelAnkleL);
if( LeftPitch <1 )
roboclawR.SpeedDistanceM1( 0x81,-1000,t,1 ); // ankle left move
if( LeftPitch >1 )
roboclawR.SpeedDistanceM1( 0x81,1000,t,1 ); // ankle left move
delay( 400 ); // time for motor to start before checking
displayspeed( 'N' ); // dont need to see current speed just set vars
while( (LeftAnkleSpd >5) || (LeftAnkleSpd <-5) ) // looking for speed to be 0
{
aval = analogRead( AnalogPins[ 3 ] ); // check upper switch left ankle
if( aval < 20 )
roboclawR.BackwardM1( 0x81, 0x00 ); // stop left ankle
displayspeed( 'N' ); // dont need to see current speed just set var
} // end while
delay( 100 );
} // end for loop
Serial.println( "*** level done" );
}
void LevelRightFt()
{
int LevelAnkleR = 1;
int t = 0;
Serial.println( "*** level Right foot" );
Compass_Right_Foot( 'N' ); // clean out que
for( int q=0; q<15; q++ )
{
Compass_Right_Foot( 'D' ); // check pitch
LevelAnkleR = (-RightPitch) * 15; // compass reading ankle
Serial.println( LevelAnkleR ); // for testing
if( (RightPitch > -2) && (RightPitch < 2) )
{
LevelAnkleR = 0;
Serial.println( "%%% Right ankle level" );
Compass_Right_Foot( 'D' );
q = 25; // just a way out of for loop
}
t = abs(LevelAnkleR);
if( RightPitch <1 )
roboclawR.SpeedDistanceM1( 0x80,-1000,t,1 ); // ankle Right
if( RightPitch >1 )
roboclawR.SpeedDistanceM1( 0x80,1000,t,1 ); // ankle Right
delay( 400 ); // time for motor to start before checking
displayspeed( 'N' ); // dont need to see current speed just set vars
while( (RightAnkleSpd >5) || (RightAnkleSpd <-5) ) // looking for speed to be 0
{
aval = analogRead( AnalogPins[ 5 ] ); // check upper switch Right ankle
if( aval < 20 )
roboclawR.BackwardM1( 0x80, 0x00 ); // stop Right ankle
displayspeed( 'N' ); // dont need to see current speed just set var
} // end while
delay( 100 );
} // end for loop
Serial.println( "*** level done" );
}
// lets keep moving left knee to limit switch
void KneeLeftLS()
{
Serial.println( "*** left knee to ls" );
aval = analogRead( AnalogPins[ 2 ] ); // check limit switch left knee
if( aval < 500 ) // check switch first
goto StpLftLs;
roboclawR.BackwardM2( 0x81,70 ); // make knee straight address and speed
while( aval > 500 )
aval = analogRead( AnalogPins[ 2 ] ); // check limit switch left knee
StpLftLs:
roboclawR.BackwardM2( 0x81,00 ); // stop
delay( 1000 );
roboclawR.ResetEncoders( 0x81 ); // reset encoders left leg
roboclawR.SpeedAccelDeccelPositionM2(0x81,1000,2000,2000,1600,1); // move off switch
delay( 3000 ); // needs to get off limit switch
WaitSpeed(); // wait for speed to be 0
displayspeed( 'D' );
roboclawR.ResetEncoders( 0x81 ); // reset encoders left leg
Serial.println( " on switch & encoder reset" );
}
// lets keep moving right knee to limit switch
void KneeRightLS()
{
// lets keep moving right knee to limit switch
roboclawR.ResetEncoders( 0x80 ); // reset encoders right leg
Serial.println( "*** right knee to ls" );
aval = analogRead( AnalogPins[ 4 ] ); // check limit switch right knee
if( aval < 500 ) // check switch first
goto StpRghLs;
roboclawR.BackwardM2( 0x80,70 ); // make knee straight address and speed
while( aval > 500 )
aval = analogRead( AnalogPins[ 4 ] ); // check limit switch right knee
StpRghLs:
roboclawR.BackwardM2( 0x80,00 ); // stop
delay( 100 );
roboclawR.ResetEncoders( 0x80 ); // reset encoders right leg
roboclawR.SpeedAccelDeccelPositionM2(0x80,1000,2000,2000,1500,1); // move off switch
delay( 3000 ); // needs to get off limit switch
WaitSpeed(); // wait for speed to be 0
displayspeed( 'D' );
roboclawR.ResetEncoders( 0x80 ); // reset encoders right leg
Serial.println( " on switch & encoder reset" );
}
void Step()
{
int t;
Serial.println( "*** take a step" );
displayspeed( 'D' ); // let me know where we start for hips
Serial.print( "*** ankle rotation right="); // shift weight to right foot
for( t=1; t<58; t++ )
{
AnkleServoR.write( RightAnkleRot - t ); // rotating both ankles
AnkleServoL.write( LeftAnkleRot + t );
delay( 50 );
}
RightAnkleRot = RightAnkleRot - t; // remember position
LeftAnkleRot = LeftAnkleRot + t;
Serial.print( RightAnkleRot); // show me
Serial.print( " left=");
Serial.println( LeftAnkleRot); // show me
Serial.println( "*** bend right knee & ankle a little leaning legs to right side" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,1800,1); // right knee
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,-2000,1); // right ankle
delay( 1500 );
WaitSpeed();
Serial.println( "*** ankle left pushes down forcing legs over to right side" );
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,1000,1000,3000,0);
delay( 1500 ); // wait to let unit stablize, rocks around
WaitSpeed();
// WaitKey();
// should balance on one leg here
Serial.println( "*** lift left leg, bend knee & ankle, rotating left hip forward" );
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,2000,2000,4500,1); // knee
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,2000,2000,-4000,1); // ankle
delay( 1500 ); // removed trying to get left leg to stay forward
roboclawR.SpeedAccelDeccelPositionM1(0x82,1000,500,500,-400,1); // hip
delay( 1500 );
WaitSpeed();
// WaitKey();
Serial.println( "*** straighten left knee and ankle down" );
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,2000,2000,1500,0); // knee left
roboclawR.SpeedAccelDeccelPositionM1(0x81,1000,2000,2000,-1000,0); // ankle left
delay( 1500 );
WaitSpeed();
// WaitKey();
/* Serial.println( "*** straighten right knee a little" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,100,0); // knee right
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,1500,0); // ankle was to much at 2000
delay( 1500 );
WaitSpeed();
WaitKey();
*/
Serial.print( "*** ankle rotation right=");
for( t=1; t<116; t++ )
{
AnkleServoR.write( RightAnkleRot + t );
AnkleServoL.write( LeftAnkleRot - t );
delay( 70 );
}
RightAnkleRot = RightAnkleRot + t;
LeftAnkleRot = LeftAnkleRot - t;
Serial.print( RightAnkleRot); // show me
Serial.print( " left=");
Serial.println( LeftAnkleRot); // show me
// WaitKey();
Serial.println( "*** bend left ankle to shift weight forward" );
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,2000,2000,-1500,0); // ankle left **** was 400 600 800 1000 1200
// delay( 1000 );
Serial.println( "*** straighten right knee a little" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,100,0); // knee right
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,1500,0); // ankle was to much at 2000
delay( 2500 );
WaitSpeed();
// WaitKey();
Serial.println( "*** lift right leg rotating right hip forward " );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,5000,0); // knee right
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,-4000,0); // ankle right
roboclawR.SpeedAccelDeccelPositionM1(0x82,1000,500,500,400,1); // hip left
roboclawR.SpeedAccelDeccelPositionM2(0x82,1000,500,500,600,0); // hip right *** was 400 600
delay( 4000 );
WaitSpeed();
// WaitKey();
Serial.println( "*** straighten legs & hips home " );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,0,0); // knee right
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,0,0); // ankle right
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,2000,2000,0,0); // knee left
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,2000,2000,0,0); // ankle left
delay( 2000 );
roboclawR.SpeedAccelDeccelPositionM1(0x82,1000,500,500,0,0); // hip left
roboclawR.SpeedAccelDeccelPositionM2(0x82,1000,500,500,0,0); // hip right
delay( 1000 );
Serial.print( "*** ankle rotation right= ");
for( t=1; t<58; t++ )
{
AnkleServoR.write( RightAnkleRot - t );
AnkleServoL.write( LeftAnkleRot + t );
delay( 100 );
}
RightAnkleRot = RightAnkleRot - t;
LeftAnkleRot = LeftAnkleRot + t;
Serial.print( RightAnkleRot);
Serial.print( " left=" );
Serial.println( LeftAnkleRot);
delay( 2000 );
WaitSpeed();
Serial.println( "*** Step Done" );
}
// just testing wait routines with IonStudio PID numbers
void TestPID()
{
int addr = 0x80; // right leg
int tstspd = 1500; // speed for motor
int tstaccl = 2000;
int tstpos = 4000; // position to go to
Serial.print( "*** test position command right knee " );
Serial.print( addr );
Serial.print( " " );
Serial.print( tstspd );
Serial.print( " " );
Serial.print( tstaccl );
Serial.print( " " );
Serial.println( tstpos );
AllStop( 'R' ); // reset encoders
roboclawR.SpeedAccelDeccelPositionM2(0x80,tstspd,tstaccl,tstaccl,tstpos,1); //addr,speed start,accl,stop accl,pos,flag
delay( 1000 );
WaitSpeed(); // wait for speed to be 0
Serial.println( "*** now back" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,tstspd,tstaccl,tstaccl,10,0); // back to 0
WaitBuffer();
WaitSpeed();
Serial.println( "*** test done" );
}
// lift left foot and stand on right foot working Jan 13
void LeftFoot()
{
int t = 0;
Serial.println( "*** lift left foot" );
Serial.print( "*** ankle rotation = ");
for( t=1; t<57; t++ )
{
AnkleServoR.write( RightAnkleRot - t );
delay( 50 );
}
Serial.println( RightAnkleRot - t );
RightAnkleRot = RightAnkleRot - t; // save
Serial.println( "*** bend right knee & ankle a little pushing over legs to right side" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,1800,1); // right knee
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,-2000,1); // right ankle
delay( 1000 );
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,1000,1000,3300,0); // ankle left push down to tilt
delay( 4000 );
WaitSpeed(); // waits till speed is 0
Serial.println( "*** bend left knee, Left Hip Forward, bend ankle" );
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,2000,2000,7200,1); // knee
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,2000,2000,-7000,1); // ankle
roboclawR.SpeedAccelDeccelPositionM1(0x82,1000,500,500,-400,1); // hip
delay( 4000 );
ToeServoL.write( LeftToe + 40 );
WaitSpeed(); // waits till speed is 0
delay( 500 );
ToeServoL.write( LeftToe );
Serial.println( "*** straighten knees, ankles flat and Left Hip back" );
roboclawR.SpeedAccelDeccelPositionM2(0x80,1500,2000,2000,50,0); // knee right
roboclawR.SpeedAccelDeccelPositionM2(0x81,1500,2000,2000,50,0); // knee left
roboclawR.SpeedAccelDeccelPositionM1(0x81,1500,2000,2000,0,0); // ankle left
roboclawR.SpeedAccelDeccelPositionM1(0x80,1500,2000,2000,0,0); // ankle right
roboclawR.SpeedAccelDeccelPositionM1(0x82,1000,500,500,0,0); // hip left
delay( 1600 ); // want leg to come down a little before rotating ankles
Serial.print( "*** ankle rotation right=");
for( t=1; t<57; t++ )
{
AnkleServoR.write( RightAnkleRot + t );
delay( 120 );
}
RightAnkleRot = RightAnkleRot + t; // save new location
Serial.println( RightAnkleRot );
delay( 4000 );
WaitSpeed();
KneeRightLS(); // find limit switch knees
KneeLeftLS();
Serial.println( "*** Left Foot Done" );
} // end left foot
// stops program and waits for a key input used for testing routines
void WaitKey()
{
if( NumIn != 1 )
{
Serial.println( "- - - - - waiting key input" ); // NumIn = to 1 skip waiting
while (Serial.available() == 0)
{
digitalWrite(redLEDpin, digitalRead(redLEDpin) ^ 1); // toggle RED LED pin heart beat
delay (100);
digitalWrite(redLEDpin, digitalRead(redLEDpin) ^ 1); // toggle RED LED pin heart beat
delay (100);
}
c = Serial.read (); // dump key in dont need
}
}
// checks roboclaw boards for errors and waits until commands are out of buffers
void WaitBuffer()
{
uint8_t depth1;
uint8_t depth2;
bool valid;
int i = 0;
// error codes Normal 0x00 M1 OverCurrent 0x01 M2 OverCurrent 0x02 E-Stop 0x04 Temperature 0x08
// Main Battery High 0x10 Main Battery Low 0x20 Logic Battery High 0x40 Logic Battery Low 0x80
Serial.println( "... RoboClaw buffers (128 means no commands in buffers, not that command is finished" );
Serial.print( "... RoboClaw controller errors 80=" );
uint16_t reading = roboclawR.ReadError(0x80, &valid);
Serial.print( reading );
Serial.print( " 81=" );
delay( 20 );
reading = roboclawR.ReadError(0x81, &valid);
Serial.print( reading );
delay( 20 );
reading = roboclawR.ReadError(0x82, &valid);
Serial.print( " 82=" );
Serial.println( reading );
delay( 20 );
// The buffer value will be 0x80 if the motors are idle
// number returned is how many commands are buffered waiting to run
// Loop until command has completed 80=done 0=busy 1=one command waiting ect
do
{
roboclawR.clear();
roboclawR.ReadBuffers( 0x80, depth1, depth2 );
Serial.print( " 80=" );
Serial.print( depth1 );
Serial.print( "&" );
Serial.print( depth2 );
i++;
if( i >20 )
goto Stop1;
delay( 50 ); // need to wait atleast 10ms for the roboclaw to clear its packet buffer
} while( depth1!=0x80 || depth2!=0x80 );
Stop1:
Serial.println( " " );
i = 0;
do
{
roboclawR.clear();
roboclawR.ReadBuffers( 0x81, depth1, depth2 );
Serial.print( " 81=" );
Serial.print( depth1 );
Serial.print( "&" );
Serial.print( depth2 );
i++;
if( i >20 ) // sometime hangs in these, so a way out
goto Stop2;
delay( 50 ); // need to wait atleast 10ms for the roboclaw to clear its packet buffer
} while( depth1!=0x80 || depth2!=0x80 ); //Loop until command has completed 80=done 0=busy
Stop2:
Serial.println( " " );
i = 0;
do
{
roboclawR.clear();
roboclawR.ReadBuffers( 0x82, depth1, depth2 );
Serial.print( " 82=" );
Serial.print( depth1 );
Serial.print( "&" );
Serial.print( depth2 );
i++;
if( i >20 )
goto Stop3;
delay( 50 ); // need to wait atleast 10ms for the roboclaw to clear its packet buffer
} while( depth1!=0x80 || depth2!=0x80 ); //Loop until command has completed 80=done 0=busy
Stop3:
Serial.println( " " );
}
/* watch speed waits till at 0 speed or quits if opto switch is active on either knee
roboclawR.BackwardM1( 0x80, 0x00 ); // stop right ankle
roboclawR.BackwardM2( 0x80, 0x00 ); // stop right knee
roboclawR.BackwardM1( 0x81, 0x00 ); // stop left ankle
roboclawR.BackwardM2( 0x81, 0x00 ); // stop left knee
roboclawR.BackwardM1( 0x82, 0x00 ); // stop left hip
roboclawR.BackwardM2( 0x82, 0x00 ); // stop right hip
*/
// checks for speed to be stopped or limit switch active
void WaitSpeed()
{
Serial.println( "...waiting for motors stopped" );
delay( 1000 ); // time for motor to start before checking was 700
do
{
displayspeed2( 'N' );
aval = analogRead( AnalogPins[ 4 ] ); // check upper switch right knee
if( aval < 500 )
{
roboclawR.BackwardM2( 0x80, 0x00 ); // stop right knee
Serial.print( " RK " );
delay( 400 );
}
aval = analogRead( AnalogPins[ 5 ] ); // check upper switch right ankle
if( aval < 500 )
{
roboclawR.BackwardM1( 0x80, 0x00 ); // stop right ankle
Serial.print( " RA " );
delay( 400 );
}
aval = analogRead( AnalogPins[ 2 ] ); // check upper switch left knee
if( aval < 500 )
{
roboclawR.BackwardM2( 0x81, 0x00 ); // stop left knee
Serial.print( " LK " );
delay( 400 );
}
aval = analogRead( AnalogPins[ 3 ] ); // check upper switch left ankle
if( aval < 500 )
{
roboclawR.BackwardM1( 0x81, 0x00 ); // stop left ankle
Serial.print( " LA " );
delay( 400 );
}
delay( 75 ); // need to wait 10ms between reads ion manual
}while( AnySpeed == 1 );
// next line did not work seems like it should
// }while( (RightKneeSpd >5) || (LeftKneeSpd >5) || (RightKneeSpd <-5) || (LeftKneeSpd <-5) || (RightAnkleSpd >5) || (LeftAnkleSpd >5) || (RightAnkleSpd <-5) || (LeftAnkleSpd <-5) );
displayspeed( 'D' );
} // end speed
// shuts down all motors and homes servos on toes and rotation of ankles
// can reset encoder counters
void AllStop( char disp )
{
roboclawR.BackwardM1( 0x80, 0x00 ); // stop right ankle
roboclawR.BackwardM2( 0x80, 0x00 ); // stop right knee
roboclawR.BackwardM1( 0x81, 0x00 ); // stop left ankle
roboclawR.BackwardM2( 0x81, 0x00 ); // stop left knee
roboclawR.BackwardM1( 0x82, 0x00 ); // stop left hip
roboclawR.BackwardM2( 0x82, 0x00 ); // stop right hip
ToeServoL.write( LeftToe ); // toes stop and make level arm not set the same on both toes
ToeServoR.write( RightToe );
AnkleServoL.write( LeftAnkleRot ); // ankles stop and make level
AnkleServoR.write( RightAnkleRot );
Serial.print( "*** Motors at rest" );
if( disp == 'R' ) // reset encoders
{
roboclawR.ResetEncoders( 0x80 ); // reset encoders right leg
roboclawR.ResetEncoders( 0x81 ); // reset encoders left leg
roboclawR.ResetEncoders( 0x82 ); // reset encoders hips
Serial.print( " & right/left leg & hip encoders reset" );
}
Serial.println( " " );
}
// displays curent from motors
void DisAmps()
{
int currentFromMotorOne;
int currentFromMotorTwo;
bool gotIt;
gotIt = roboclawR.ReadCurrents( 0x80, currentFromMotorOne, currentFromMotorTwo );
if( gotIt )
{
Serial.print("*** Current RghAnk= ");
Serial.print(currentFromMotorOne);
Serial.print("ma RghKne=");
Serial.print(currentFromMotorTwo);
}
gotIt = roboclawR.ReadCurrents( 0x81, currentFromMotorOne, currentFromMotorTwo );
if( gotIt )
{
Serial.print("ma LftAnk= ");
Serial.print(currentFromMotorOne);
Serial.print("ma LftKne=");
Serial.print(currentFromMotorTwo);
}
gotIt = roboclawR.ReadCurrents( 0x82, currentFromMotorOne, currentFromMotorTwo );
if( gotIt )
{
Serial.print("ma LftHip= ");
Serial.print(currentFromMotorOne);
Serial.print("ma RghHip=");
Serial.print(currentFromMotorTwo);
}
Serial.println("ma");
}
// displays data from encoders, speed, battery volts
void displayspeed( char DispOff )
{
uint8_t status1,status2,status3,status4;
bool valid1,valid2,valid3,valid4;
address = 0x80;
int32_t enc1 = roboclawR.ReadEncM1( address, &status1, &valid1);
int32_t enc2 = roboclawR.ReadEncM2( address, &status2, &valid2);
int32_t speed1 = roboclawR.ReadSpeedM1( address, &status3, &valid3);
int32_t speed2 = roboclawR.ReadSpeedM2( address, &status4, &valid4);
if( DispOff == 'D' ) // may want to check status but not show on display
{
if(valid1)
{
Serial.print(" Encoder Right UpperAnkle_M1:");
Serial.print( enc1,DEC );
}
if(valid2)
{
Serial.print( " UpperKnee_M2:" );
Serial.print( enc2,DEC );
}
if(valid3)
{
Serial.print(" Sp_M1:");
Serial.print( speed1,DEC );
}
if(valid4)
{
Serial.print(" Sp_M2:");
Serial.println( speed2,DEC );
}
} // end if
delay( 50 );
address = 0x81;
int32_t enc1L = roboclawR.ReadEncM1( address, &status1, &valid1);
int32_t enc2L = roboclawR.ReadEncM2( address, &status2, &valid2);
int32_t speed1L = roboclawR.ReadSpeedM1( address, &status3, &valid3);
int32_t speed2L = roboclawR.ReadSpeedM2( address, &status4, &valid4);
if( DispOff == 'D' ) // may want to check status but not show on display left leg
{
if(valid1)
{
Serial.print(" Encoder Left UpperAnkle_M1:");
Serial.print( enc1L,DEC );
}
if(valid2)
{
Serial.print( " UpperKnee_M2:" );
Serial.print( enc2L,DEC );
}
if(valid3)
{
Serial.print(" Sp_M1:");
Serial.print( speed1L,DEC );
}
if(valid4)
{
Serial.print(" Sp_M2:");
Serial.println( speed2L,DEC );
}
}
delay( 50 );
address = 0x82;
int32_t enc1H = roboclawR.ReadEncM1( address, &status1, &valid1);
int32_t enc2H = roboclawR.ReadEncM2( address, &status2, &valid2);
int32_t speed1H = roboclawR.ReadSpeedM1( address, &status3, &valid3);
int32_t speed2H = roboclawR.ReadSpeedM2( address, &status4, &valid4);
long BatVolt = roboclawR.ReadMainBatteryVoltage( address, &valid1 );
// long LogicVolt = roboclawR.ReadLogicBatteryVoltage( address, &valid1 );
LeftHipSw = digitalRead( HipLeft ); // read limit switch on hip
LeftKneeSw = analogRead( AnalogPins[ 2 ] ); // get raw number
LeftAnkleSw = analogRead( AnalogPins[ 3 ] );
RightHipSw = digitalRead( HipRight );
RightKneeSw = analogRead( AnalogPins[ 4 ] ); // get raw number
RightAnkleSw = analogRead( AnalogPins[ 5 ] );
if( DispOff == 'D' ) // may want to check status but not show on display
{
if(valid1)
{
Serial.print(" Encoder Hips Left_M1:");
Serial.print( enc1H,DEC );
}
if(valid2)
{
Serial.print( " Rgh_M2:" );
Serial.print( enc2H,DEC );
}
if(valid3)
{
Serial.print(" Sp_M1:");
Serial.print( speed1H,DEC );
}
if(valid4)
{
Serial.print(" Sp_M2:");
Serial.print( speed2H,DEC );
Serial.print( " BatV:" );
Serial.println( BatVolt/10.0 );
}
// not suppling logic voltage to roboclaw boards so no reason to show
// Serial.print( " LogV:" );
// Serial.println( LogicVolt/10.0 );
Serial.print( " Switches Right Hip=" );
Serial.print( RightHipSw );
Serial.print( " Kne=" );
Serial.print( RightKneeSw );
Serial.print( " Ank=" );
Serial.print( RightAnkleSw );
Serial.print( " Left Hip=" );
Serial.print( LeftHipSw );
Serial.print( " Kne=" );
Serial.print( LeftKneeSw );
Serial.print( " Ank=" );
Serial.println( LeftAnkleSw );
} // end display off
// save new encoder data
RightAnkleSpd = speed1;
RightKneeSpd = speed2;
RighHipSpd = speed1H;
RightAnkleCnt = enc1;
RightKneeCnt = enc2;
RightHipCnt = enc1H;
LeftAnkleSpd = speed1L;
LeftKneeSpd = speed2L;
LeftHipSpd = speed2H;
LeftAnkleCnt = enc1L;
LeftKneeCnt = enc2L;
LeftHipCnt = enc2H;
} // end display routine
// displays speed info only short version of display speed and encoders
void displayspeed2( char DispOff )
{
uint8_t status3,status4;
bool valid3,valid4;
AnySpeed = 0;
roboclawR.clear();
address = 0x80;
int32_t RightAnkleSpd = roboclawR.ReadSpeedM1( address, &status3, &valid3);
int32_t RightKneeSpd = roboclawR.ReadSpeedM2( address, &status4, &valid4);
if( RightAnkleSpd>5 || RightAnkleSpd<-5 )
AnySpeed = 1;
if( RightKneeSpd>5 || RightKneeSpd<-5 )
AnySpeed = 1;
if( DispOff == 'D' ) // may want to check status but not show on display
{
if( valid3 )
{
Serial.print("___Speeds 80M1_RA:");
Serial.print( RightAnkleSpd,DEC );
}
if( valid4 )
{
Serial.print(" 80M2_RK:");
Serial.print( RightKneeSpd,DEC );
}
} // end if
roboclawR.clear();
address = 0x81;
int32_t LeftAnkleSpd = roboclawR.ReadSpeedM1( address, &status3, &valid3);
int32_t LeftKneeSpd = roboclawR.ReadSpeedM2( address, &status4, &valid4);
if( LeftAnkleSpd>5 || LeftAnkleSpd<-5 )
AnySpeed = 1;
if( LeftKneeSpd>5 || LeftKneeSpd<-5 )
AnySpeed = 1;
if( DispOff == 'D' )
{
if( valid3 )
{
Serial.print(" 81M1_LA:");
Serial.print( LeftAnkleSpd,DEC );
}
if( valid4 )
{
Serial.print(" 81M2_LK:");
Serial.print( LeftKneeSpd,DEC );
}
}
roboclawR.clear();
address = 0x82;