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main.cpp
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main.cpp
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#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <libgen.h>
#include "LinuxDARwIn.h"
#include <ctime>
#ifdef MX28_1024
#define MOTION_FILE_PATH "../../../../Data/motion_1024.bin"
#else
#define MOTION_FILE_PATH "../../../../Data/motion_4096.bin"
#endif
#define INI_FILE_PATH "../../../../Data/config.ini"
#define U2D_DEV_NAME "/dev/ttyUSB0"
using namespace Robot;
void change_current_dir()
{
char exepath[1024] = {0};
if(readlink("/proc/self/exe", exepath, sizeof(exepath)) != -1)
chdir(dirname(exepath));
}
int main(void)
{
clock_t start, total;
printf( "\n===== Walk Backward Tutorial for DARwIn =====\n\n");
change_current_dir();
minIni* ini = new minIni(INI_FILE_PATH);
//////////////////// Framework Initialize ////////////////////////////
LinuxCM730 linux_cm730(U2D_DEV_NAME);
CM730 cm730(&linux_cm730);
if(MotionManager::GetInstance()->Initialize(&cm730) == false)
{
printf("Fail to initialize Motion Manager!\n");
return 0;
}
//Port initialization and opening, dynamixel power on
MotionManager::GetInstance()->LoadINISettings(ini);
Walking::GetInstance()->LoadINISettings(ini);
//Load default settings for MotionManager and Walking module
//1234
MotionManager::GetInstance()->AddModule((MotionModule*)Action::GetInstance());
//123
MotionManager::GetInstance()->AddModule((MotionModule*)Head::GetInstance());
MotionManager::GetInstance()->AddModule((MotionModule*)Walking::GetInstance());
LinuxMotionTimer *motion_timer = new LinuxMotionTimer(MotionManager::GetInstance());
motion_timer->Start();
//Create MotionManager object and registers head and walking modules, then timers are initialized.
/////////////////////////////////////////////////////////////////////
/////////////////////////Capture Motor Position//////////////////////
//12343
MotionManager::GetInstance()->LoadINISettings(ini);
int firm_ver = 0;
if(cm730.ReadByte(JointData::ID_HEAD_PAN, MX28::P_VERSION, &firm_ver, 0) != CM730::SUCCESS)
{
fprintf(stderr, "Can't read firmware version from Dynamixel ID %d!! \n\n", JointData::ID_HEAD_PAN);
exit(0);
}
if(0 < firm_ver && firm_ver < 27)
{
#ifdef MX28_1024
Action::GetInstance()->LoadFile(MOTION_FILE_PATH);
#else
fprintf(stderr, "MX-28's firmware is not support 4096 resolution!! \n");
fprintf(stderr, "Upgrade MX-28's firmware to version 27(0x1B) or higher.\n\n");
exit(0);
#endif
}
else if(27 <= firm_ver)
{
#ifdef MX28_1024
fprintf(stderr, "MX-28's firmware is not support 1024 resolution!! \n");
fprintf(stderr, "Remove '#define MX28_1024' from 'MX28.h' file and rebuild.\n\n");
exit(0);
#else
Action::GetInstance()->LoadFile((char*)MOTION_FILE_PATH);
#endif
}
else
exit(0);
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
//124132
LinuxActionScript::PlayMP3("../../../../Data/mp3/Yes.mp3");
Action::GetInstance()->Start(16);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
int n = 0;
int param[JointData::NUMBER_OF_JOINTS * 5];
int wGoalPosition, wStartPosition, wDistance;
LinuxActionScript::PlayMP3("../../../../Data/mp3/Yes.mp3");
for(int id=JointData::ID_R_SHOULDER_PITCH; id<JointData::NUMBER_OF_JOINTS; id++)
{
wStartPosition = MotionStatus::m_CurrentJoints.GetValue(id);
wGoalPosition = Walking::GetInstance()->m_Joint.GetValue(id);
if( wStartPosition > wGoalPosition )
wDistance = wStartPosition - wGoalPosition;
else
wDistance = wGoalPosition - wStartPosition;
wDistance >>= 2;
if( wDistance < 8 )
wDistance = 8;
param[n++] = id;
param[n++] = CM730::GetLowByte(wGoalPosition);
param[n++] = CM730::GetHighByte(wGoalPosition);
param[n++] = CM730::GetLowByte(wDistance);
param[n++] = CM730::GetHighByte(wDistance);
}
cm730.SyncWrite(MX28::P_GOAL_POSITION_L, 5, JointData::NUMBER_OF_JOINTS - 1, param);
//Capture initial position of Darwin OP 2's motor position
printf("Press the ENTER key to begin!\n");
getchar();
Action::GetInstance()->Start(16);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
LinuxActionScript::PlayMP3(“../../../../Data/mp3/UTSA.mp3");
usleep(500000);
//------------------------Begin School Song dance-------------------------//
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(65);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
LinuxActionScript::PlayMP3(“../../../../Data/mp3/FinalStage.mp3");
usleep(500000); //may need to adjust, prevents falling
//-------------------------BEgin Workout Stage 2-------------------------//
start = clock();
total = 0;
while(total < 10) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
if(total < 2) {
Walking::GetInstance()->X_MOVE_AMPLITUDE = 15.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 0.0;
}
else if( total >=2 && total < 4) {
Walking::GetInstance()->X_MOVE_AMPLITUDE = -15.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 0.0;
}
else if( total >=4 && total < 7) {
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 35.0;
}
else if( total >=7 && total < 9) {
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = -35.0;
}
}
Walking::GetInstance()->Stop();
usleep(1000000);
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(61);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
start = clock();
total = 0;
while(total < 2) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Z_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
}
Walking::GetInstance()->Stop();
usleep(1000000);
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(34);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
start = clock();
total = 0;
while(total < 2) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Z_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
}
Walking::GetInstance()->Stop();
usleep(1000000);
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(34);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
Action::GetInstance()->Start(89);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
//--------------------Begin Dancing Stage-------------------------------//
usleep(1400000);
//------------------------
for(int i = 0; i <2; i++) {
start = clock();
total = 0;
while(total < 8) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
if(total < 4) {
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Z_MOVE_AMPLITUDE = 45.0;
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 45.0;
}
else if( total >=4) {
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Z_MOVE_AMPLITUDE = 45.0;
Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = -45.0;
}
}
Walking::GetInstance()->Stop();
usleep(1000000);
//kick kick
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(20);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
Action::GetInstance()->Start(85);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
Action::GetInstance()->Start(86);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
Action::GetInstance()->Start(85);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
start = clock();
total = 0;
while(total < 4) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
if(total< 2)
Walking::GetInstance()->A_MOVE_AMPLITUDE = 55.0;
else if(total >=2 && total <= 3)
Walking::GetInstance()->A_MOVE_AMPLITUDE = -42.0;
else
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
}
usleep(500000);
}
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
Action::GetInstance()->Start(20);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
/*
//-------------------------------Testing------------------------------
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
//-------------------------------Testing------------------------------
*/
for(int i = 0; i<4; i++) {
Action::GetInstance()->Start(95);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
usleep(650000);
}
for(int i = 0; i<2; i++) {
Action::GetInstance()->Start(102);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
usleep(650000);
}
usleep(650000);
Action::GetInstance()->Start(106);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
/*
//-------------------------------Testing------------------------------
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
//-------------------------------Testing------------------------------
*/
start = clock();
total = 0;
while(total < 1) {
Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
total = (double)(clock() - start) / CLOCKS_PER_SEC;
Walking::GetInstance()->Start();
Walking::GetInstance()->X_MOVE_AMPLITUDE = 20.0;
Walking::GetInstance()->Y_MOVE_AMPLITUDE = 0.0;
Walking::GetInstance()->Z_MOVE_AMPLITUDE = 40.0;
Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
}
Walking::GetInstance()->Stop();
usleep(1000000);
//-------------------------------Testing------------------------------
Action::GetInstance()->m_Joint.SetEnableBody(true, true);
MotionManager::GetInstance()->SetEnable(true);
//-------------------------------Testing------------------------------
Action::GetInstance()->Start(119);
while(Action::GetInstance()->IsRunning()) usleep(8*1000);
return 0;
}