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BotBoarduino_CH3R_PS2.ino
1392 lines (1176 loc) · 56.9 KB
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BotBoarduino_CH3R_PS2.ino
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//Project Lynxmotion Phoenix
//Description: Phoenix software
//Software version: V2.0
//Date: 29-10-2009
//Programmer: Jeroen Janssen [aka Xan]
// Kurt Eckhardt(KurtE) converted to C and Arduino
//
// This version of the Phoenix code was ported over to the Arduino Environement
// and is specifically configured for the Lynxmotion BotBoarduino
//
//NEW IN V2.1 (2013-05-17)
// - setup() made more generic by replacing exact pin-n° by PS2_CMD
//NEW IN V2.X
//=============================================================================
//
//KNOWN BUGS:
// - Lots ;)
//
//=============================================================================
// Header Files
//=============================================================================
#if ARDUINO>99
#include <Arduino.h>
#else
#endif
#include <PS2X_lib.h>
#include <pins_arduino.h>
#include <SoftwareSerial.h>
#include "Hex_globals.h"
#define BalanceDivFactor 6 //;Other values than 6 can be used, testing...CAUTION!! At your own risk ;)
//--------------------------------------------------------------------
//[TABLES]
//ArcCosinus Table
//Table build in to 3 part to get higher accuracy near cos = 1.
//The biggest error is near cos = 1 and has a biggest value of 3*0.012098rad = 0.521 deg.
//- Cos 0 to 0.9 is done by steps of 0.0079 rad. [1/127]
//- Cos 0.9 to 0.99 is done by steps of 0.0008 rad [0.1/127]
//- Cos 0.99 to 1 is done by step of 0.0002 rad [0.01/64]
//Since the tables are overlapping the full range of 127+127+64 is not necessary. Total bytes: 277
static const byte GetACos[] PROGMEM = {
255,254,252,251,250,249,247,246,245,243,242,241,240,238,237,236,234,233,232,231,229,228,227,225,
224,223,221,220,219,217,216,215,214,212,211,210,208,207,206,204,203,201,200,199,197,196,195,193,
192,190,189,188,186,185,183,182,181,179,178,176,175,173,172,170,169,167,166,164,163,161,160,158,
157,155,154,152,150,149,147,146,144,142,141,139,137,135,134,132,130,128,127,125,123,121,119,117,
115,113,111,109,107,105,103,101,98,96,94,92,89,87,84,81,79,76,73,73,73,72,72,72,71,71,71,70,70,
70,70,69,69,69,68,68,68,67,67,67,66,66,66,65,65,65,64,64,64,63,63,63,62,62,62,61,61,61,60,60,59,
59,59,58,58,58,57,57,57,56,56,55,55,55,54,54,53,53,53,52,52,51,51,51,50,50,49,49,48,48,47,47,47,
46,46,45,45,44,44,43,43,42,42,41,41,40,40,39,39,38,37,37,36,36,35,34,34,33,33,32,31,31,30,29,28,
28,27,26,25,24,23,23,23,23,22,22,22,22,21,21,21,21,20,20,20,19,19,19,19,18,18,18,17,17,17,17,16,
16,16,15,15,15,14,14,13,13,13,12,12,11,11,10,10,9,9,8,7,6,6,5,3,0 };//
//Sin table 90 deg, persision 0.5 deg [180 values]
static const word GetSin[] PROGMEM = {0, 87, 174, 261, 348, 436, 523, 610, 697, 784, 871, 958, 1045, 1132, 1218, 1305, 1391, 1478, 1564,
1650, 1736, 1822, 1908, 1993, 2079, 2164, 2249, 2334, 2419, 2503, 2588, 2672, 2756, 2840, 2923, 3007,
3090, 3173, 3255, 3338, 3420, 3502, 3583, 3665, 3746, 3826, 3907, 3987, 4067, 4146, 4226, 4305, 4383,
4461, 4539, 4617, 4694, 4771, 4848, 4924, 4999, 5075, 5150, 5224, 5299, 5372, 5446, 5519, 5591, 5664,
5735, 5807, 5877, 5948, 6018, 6087, 6156, 6225, 6293, 6360, 6427, 6494, 6560, 6626, 6691, 6755, 6819,
6883, 6946, 7009, 7071, 7132, 7193, 7253, 7313, 7372, 7431, 7489, 7547, 7604, 7660, 7716, 7771, 7826,
7880, 7933, 7986, 8038, 8090, 8141, 8191, 8241, 8290, 8338, 8386, 8433, 8480, 8526, 8571, 8616, 8660,
8703, 8746, 8788, 8829, 8870, 8910, 8949, 8987, 9025, 9063, 9099, 9135, 9170, 9205, 9238, 9271, 9304,
9335, 9366, 9396, 9426, 9455, 9483, 9510, 9537, 9563, 9588, 9612, 9636, 9659, 9681, 9702, 9723, 9743,
9762, 9781, 9799, 9816, 9832, 9848, 9862, 9876, 9890, 9902, 9914, 9925, 9935, 9945, 9953, 9961, 9969,
9975, 9981, 9986, 9990, 9993, 9996, 9998, 9999, 10000 };//
//Build tables for Leg configuration like I/O and MIN/imax values to easy access values using a FOR loop
//Constants are still defined as single values in the cfg file to make it easy to read/configure
// Servo Horn offsets
#ifdef cRRFemurHornOffset1 // per leg configuration
static const short cFemurHornOffset1[] PROGMEM = {cRRFemurHornOffset1, cRMFemurHornOffset1, cRFFemurHornOffset1, cLRFemurHornOffset1, cLMFemurHornOffset1, cLFFemurHornOffset1};
#define CFEMURHORNOFFSET1(LEGI) ((short)pgm_read_word(&cFemurHornOffset1[LEGI]))
#else // Fixed per leg, if not defined 0
#ifndef cFemurHornOffset1
#define cFemurHornOffset1 0
#endif
#define CFEMURHORNOFFSET1(LEGI) (cFemurHornOffset1)
#endif
#ifdef c4DOF
#ifdef cRRTarsHornOffset1 // per leg configuration
static const short cTarsHornOffset1[] PROGMEM = {cRRTarsHornOffset1, cRMTarsHornOffset1, cRFTarsHornOffset1, cLRTarsHornOffset1, cLMTarsHornOffset1, cLFTarsHornOffset1};
#define CTARSHORNOFFSET1(LEGI) ((short)pgm_read_word(&cTarsHornOffset1[LEGI]))
#else // Fixed per leg, if not defined 0
#ifndef cTarsHornOffset1
#define cTarsHornOffset1 0
#endif
#define CTARSHORNOFFSET1(LEGI) cTarsHornOffset1
#endif
#endif
//Min / imax values
const short cCoxaMin1[] PROGMEM = {cRRCoxaMin1, cRMCoxaMin1, cRFCoxaMin1, cLRCoxaMin1, cLMCoxaMin1, cLFCoxaMin1};
const short cCoxaMax1[] PROGMEM = {cRRCoxaMax1, cRMCoxaMax1, cRFCoxaMax1, cLRCoxaMax1, cLMCoxaMax1, cLFCoxaMax1};
const short cFemurMin1[] PROGMEM ={cRRFemurMin1, cRMFemurMin1, cRFFemurMin1, cLRFemurMin1, cLMFemurMin1, cLFFemurMin1};
const short cFemurMax1[] PROGMEM ={cRRFemurMax1, cRMFemurMax1, cRFFemurMax1, cLRFemurMax1, cLMFemurMax1, cLFFemurMax1};
const short cTibiaMin1[] PROGMEM ={cRRTibiaMin1, cRMTibiaMin1, cRFTibiaMin1, cLRTibiaMin1, cLMTibiaMin1, cLFTibiaMin1};
const short cTibiaMax1[] PROGMEM = {cRRTibiaMax1, cRMTibiaMax1, cRFTibiaMax1, cLRTibiaMax1, cLMTibiaMax1, cLFTibiaMax1};
#ifdef c4DOF
const short cTarsMin1[] PROGMEM = {cRRTarsMin1, cRMTarsMin1, cRFTarsMin1, cLRTarsMin1, cLMTarsMin1, cLFTarsMin1};
const short cTarsMax1[] PROGMEM = {cRRTarsMax1, cRMTarsMax1, cRFTarsMax1, cLRTarsMax1, cLMTarsMax1, cLFTarsMax1};
#endif
//Leg Lengths
const byte cCoxaLength[] PROGMEM = {cRRCoxaLength, cRMCoxaLength, cRFCoxaLength, cLRCoxaLength, cLMCoxaLength, cLFCoxaLength};
const byte cFemurLength[] PROGMEM = {cRRFemurLength, cRMFemurLength, cRFFemurLength, cLRFemurLength, cLMFemurLength, cLFFemurLength};
const byte cTibiaLength[] PROGMEM = {cRRTibiaLength, cRMTibiaLength, cRFTibiaLength, cLRTibiaLength, cLMTibiaLength, cLFTibiaLength};
#ifdef c4DOF
const byte cTarsLength[] PROGMEM = {cRRTarsLength, cRMTarsLength, cRFTarsLength, cLRTarsLength, cLMTarsLength, cLFTarsLength};
#endif
//Body Offsets [distance between the center of the body and the center of the coxa]
const short cOffsetX[] PROGMEM = {cRROffsetX, cRMOffsetX, cRFOffsetX, cLROffsetX, cLMOffsetX, cLFOffsetX};
const short cOffsetZ[] PROGMEM = {cRROffsetZ, cRMOffsetZ, cRFOffsetZ, cLROffsetZ, cLMOffsetZ, cLFOffsetZ};
//Default leg angle
const short cCoxaAngle1[] PROGMEM = {cRRCoxaAngle1, cRMCoxaAngle1, cRFCoxaAngle1, cLRCoxaAngle1, cLMCoxaAngle1, cLFCoxaAngle1};
//Start positions for the leg
const short cInitPosX[] PROGMEM = {cRRInitPosX, cRMInitPosX, cRFInitPosX, cLRInitPosX, cLMInitPosX, cLFInitPosX};
const short cInitPosY[] PROGMEM = {cRRInitPosY, cRMInitPosY, cRFInitPosY, cLRInitPosY, cLMInitPosY, cLFInitPosY};
const short cInitPosZ[] PROGMEM = {cRRInitPosZ, cRMInitPosZ, cRFInitPosZ, cLRInitPosZ, cLMInitPosZ, cLFInitPosZ};
// Define some globals for debug information
boolean g_fShowDebugPrompt;
boolean g_fDebugOutput = true;
//--------------------------------------------------------------------
//[REMOTE]
#define cTravelDeadZone 4 //The deadzone for the analog input from the remote
//====================================================================
//[ANGLES]
short CoxaAngle1[6]; //Actual Angle of the horizontal hip, decimals = 1
short FemurAngle1[6]; //Actual Angle of the vertical hip, decimals = 1
short TibiaAngle1[6]; //Actual Angle of the knee, decimals = 1
#ifdef c4DOF
short TarsAngle1[6]; //Actual Angle of the knee, decimals = 1
#endif
//--------------------------------------------------------------------
//[POSITIONS SINGLE LEG CONTROL]
short LegPosX[6]; //Actual X Posion of the Leg
short LegPosY[6]; //Actual Y Posion of the Leg
short LegPosZ[6]; //Actual Z Posion of the Leg
//--------------------------------------------------------------------
//[INPUTS]
//--------------------------------------------------------------------
//[GP PLAYER]
//--------------------------------------------------------------------
//[OUTPUTS]
boolean LedA; //Red
boolean LedB; //Green
boolean LedC; //Orange
boolean Eyes; //Eyes output
//--------------------------------------------------------------------
//[VARIABLES]
byte Index; //Index universal used
byte LegIndex; //Index used for leg Index Number
//GetSinCos / ArcCos
short AngleDeg1; //Input Angle in degrees, decimals = 1
short sin4; //Output Sinus of the given Angle, decimals = 4
short cos4; //Output Cosinus of the given Angle, decimals = 4
short AngleRad4; //Output Angle in radials, decimals = 4
//GetAtan2
short AtanX; //Input X
short AtanY; //Input Y
short Atan4; //ArcTan2 output
short XYhyp2; //Output presenting Hypotenuse of X and Y
//Body Inverse Kinematics
short PosX; //Input position of the feet X
short PosZ; //Input position of the feet Z
short PosY; //Input position of the feet Y
//long TotalX; //Total X distance between the center of the body and the feet
//long TotalZ; //Total Z distance between the center of the body and the feet
long BodyFKPosX; //Output Position X of feet with Rotation
long BodyFKPosY; //Output Position Y of feet with Rotation
long BodyFKPosZ; //Output Position Z of feet with Rotation
// New with zentas stuff
short BodyRotOffsetX; //Input X offset value to adjust centerpoint of rotation
short BodyRotOffsetY; //Input Y offset value to adjust centerpoint of rotation
short BodyRotOffsetZ; //Input Z offset value to adjust centerpoint of rotation
//Leg Inverse Kinematics
long IKFeetPosX; //Input position of the Feet X
long IKFeetPosY; //Input position of the Feet Y
long IKFeetPosZ; //Input Position of the Feet Z
boolean IKSolution; //Output true if the solution is possible
boolean IKSolutionWarning; //Output true if the solution is NEARLY possible
boolean IKSolutionError; //Output true if the solution is NOT possible
//--------------------------------------------------------------------
//[TIMING]
unsigned long lTimerStart; //Start time of the calculation cycles
unsigned long lTimerEnd; //End time of the calculation cycles
byte CycleTime; //Total Cycle time
word ServoMoveTime; //Time for servo updates
word PrevServoMoveTime; //Previous time for the servo updates
//--------------------------------------------------------------------
//[GLOABAL]
//--------------------------------------------------------------------
// Define our global Input Control State object
INCONTROLSTATE g_InControlState; // This is our global Input control state object...
// Define our ServoWriter class
ServoDriver g_ServoDriver; // our global servo driver class
boolean g_fLowVoltageShutdown; // If set the bot shuts down because the input voltage is to low
word Voltage;
//--boolean g_InControlState.fHexOn; //Switch to turn on Phoenix
//--boolean g_InControlState.fPrev_HexOn; //Previous loop state
//--------------------------------------------------------------------
//[Balance]
long TotalTransX;
long TotalTransZ;
long TotalTransY;
long TotalYBal1;
long TotalXBal1;
long TotalZBal1;
//[Single Leg Control]
byte PrevSelectedLeg;
boolean AllDown;
//[gait]
short NomGaitSpeed; //Nominal speed of the gait
short TLDivFactor; //Number of steps that a leg is on the floor while walking
short NrLiftedPos; //Number of positions that a single leg is lifted [1-3]
byte LiftDivFactor; //Normaly: 2, when NrLiftedPos=5: 4
boolean HalfLiftHeigth; //If TRUE the outer positions of the ligted legs will be half height
boolean TravelRequest; //Temp to check if the gait is in motion
byte StepsInGait; //Number of steps in gait
boolean LastLeg; //TRUE when the current leg is the last leg of the sequence
byte GaitStep; //Actual Gait step
byte GaitLegNr[6]; //Init position of the leg
byte GaitLegNrIn; //Input Number of the leg
long GaitPosX[6]; //Array containing Relative X position corresponding to the Gait
long GaitPosY[6]; //Array containing Relative Y position corresponding to the Gait
long GaitPosZ[6]; //Array containing Relative Z position corresponding to the Gait
long GaitRotY[6]; //Array containing Relative Y rotation corresponding to the Gait
boolean fWalking; // True if the robot are walking
boolean fContinueWalking; // should we continue to walk?
//=============================================================================
// Function prototypes
//=============================================================================
extern void GaitSelect(void);
extern void WriteOutputs(void);
extern void SingleLegControl(void);
extern void GaitSeq(void);
extern void BalanceBody(void);
extern void CheckAngles();
extern void PrintSystemStuff(void); // Try to see why we fault...
extern void BalCalcOneLeg (short PosX, short PosZ, short PosY, byte BalLegNr);
extern void BodyFK (short PosX, short PosZ, short PosY, short RotationY, byte BodyIKLeg) ;
extern void LegIK (short IKFeetPosX, short IKFeetPosY, short IKFeetPosZ, byte LegIKLegNr);
extern void Gait (byte GaitCurrentLegNr);
extern short GetATan2 (short AtanX, short AtanY);
//--------------------------------------------------------------------------
// SETUP: the main arduino setup function.
//--------------------------------------------------------------------------
void setup(){
int error;
g_fShowDebugPrompt = true;
g_fDebugOutput = false;
#ifdef DBGSerial
DBGSerial.begin(57600);
#endif
// Init our ServoDriver
g_ServoDriver.Init();
pinMode(PS2_CMD, INPUT);
if(!digitalRead(PS2_CMD))
g_ServoDriver.SSCForwarder();
//Checks to see if our Servo Driver support a GP Player
// DBGSerial.write("Program Start\n\r");
// debug stuff
delay(10);
//Turning off all the leds
LedA = 0;
LedB = 0;
LedC = 0;
Eyes = 0;
//Tars Init Positions
for (LegIndex= 0; LegIndex <= 5; LegIndex++ )
{
LegPosX[LegIndex] = (short)pgm_read_word(&cInitPosX[LegIndex]); //Set start positions for each leg
LegPosY[LegIndex] = (short)pgm_read_word(&cInitPosY[LegIndex]);
LegPosZ[LegIndex] = (short)pgm_read_word(&cInitPosZ[LegIndex]);
}
//Single leg control. Make sure no leg is selected
g_InControlState.SelectedLeg = 255; // No Leg selected
PrevSelectedLeg = 255;
//Body Positions
g_InControlState.BodyPos.x = 0;
g_InControlState.BodyPos.y = 0;
g_InControlState.BodyPos.z = 0;
//Body Rotations
g_InControlState.BodyRot1.x = 0;
g_InControlState.BodyRot1.y = 0;
g_InControlState.BodyRot1.z = 0;
BodyRotOffsetX = 0;
BodyRotOffsetY = 0; //Input Y offset value to adjust centerpoint of rotation
BodyRotOffsetZ = 0;
//Gait
g_InControlState.GaitType = 1; // 0; Devon wanted
g_InControlState.BalanceMode = 0;
g_InControlState.LegLiftHeight = 50;
GaitStep = 1;
GaitSelect();
g_InputController.Init();
// Servo Driver
ServoMoveTime = 150;
g_InControlState.fHexOn = 0;
g_fLowVoltageShutdown = false;
}
//=============================================================================
// Loop: the main arduino main Loop function
//=============================================================================
void loop(void)
{
//Start time
lTimerStart = millis();
//Read input
CheckVoltage(); // check our voltages...
if (!g_fLowVoltageShutdown)
g_InputController.ControlInput();
WriteOutputs(); // Write Outputs
#ifdef OPT_GPPLAYER
//GP Player
g_ServoDriver.GPPlayer();
#endif
//Single leg control
SingleLegControl ();
//Gait
GaitSeq();
//Balance calculations
TotalTransX = 0; //reset values used for calculation of balance
TotalTransZ = 0;
TotalTransY = 0;
TotalXBal1 = 0;
TotalYBal1 = 0;
TotalZBal1 = 0;
if (g_InControlState.BalanceMode) {
for (LegIndex = 0; LegIndex <= 2; LegIndex++) { // balance calculations for all Right legs
BalCalcOneLeg (-LegPosX[LegIndex]+GaitPosX[LegIndex],
LegPosZ[LegIndex]+GaitPosZ[LegIndex],
(LegPosY[LegIndex]-(short)pgm_read_word(&cInitPosY[LegIndex]))+GaitPosY[LegIndex], LegIndex);
}
for (LegIndex = 3; LegIndex <= 5; LegIndex++) { // balance calculations for all Right legs
BalCalcOneLeg(LegPosX[LegIndex]+GaitPosX[LegIndex],
LegPosZ[LegIndex]+GaitPosZ[LegIndex],
(LegPosY[LegIndex]-(short)pgm_read_word(&cInitPosY[LegIndex]))+GaitPosY[LegIndex], LegIndex);
}
BalanceBody();
}
//Reset IKsolution indicators
IKSolution = 0 ;
IKSolutionWarning = 0;
IKSolutionError = 0 ;
//Do IK for all Right legs
for (LegIndex = 0; LegIndex <=2; LegIndex++) {
BodyFK(-LegPosX[LegIndex]+g_InControlState.BodyPos.x+GaitPosX[LegIndex] - TotalTransX,
LegPosZ[LegIndex]+g_InControlState.BodyPos.z+GaitPosZ[LegIndex] - TotalTransZ,
LegPosY[LegIndex]+g_InControlState.BodyPos.y+GaitPosY[LegIndex] - TotalTransY,
GaitRotY[LegIndex], LegIndex);
LegIK (LegPosX[LegIndex]-g_InControlState.BodyPos.x+BodyFKPosX-(GaitPosX[LegIndex] - TotalTransX),
LegPosY[LegIndex]+g_InControlState.BodyPos.y-BodyFKPosY+GaitPosY[LegIndex] - TotalTransY,
LegPosZ[LegIndex]+g_InControlState.BodyPos.z-BodyFKPosZ+GaitPosZ[LegIndex] - TotalTransZ, LegIndex);
}
//Do IK for all Left legs
for (LegIndex = 3; LegIndex <=5; LegIndex++) {
BodyFK(LegPosX[LegIndex]-g_InControlState.BodyPos.x+GaitPosX[LegIndex] - TotalTransX,
LegPosZ[LegIndex]+g_InControlState.BodyPos.z+GaitPosZ[LegIndex] - TotalTransZ,
LegPosY[LegIndex]+g_InControlState.BodyPos.y+GaitPosY[LegIndex] - TotalTransY,
GaitRotY[LegIndex], LegIndex);
LegIK (LegPosX[LegIndex]+g_InControlState.BodyPos.x-BodyFKPosX+GaitPosX[LegIndex] - TotalTransX,
LegPosY[LegIndex]+g_InControlState.BodyPos.y-BodyFKPosY+GaitPosY[LegIndex] - TotalTransY,
LegPosZ[LegIndex]+g_InControlState.BodyPos.z-BodyFKPosZ+GaitPosZ[LegIndex] - TotalTransZ, LegIndex);
}
//Check mechanical limits
CheckAngles();
//Write IK errors to leds
LedC = IKSolutionWarning;
LedA = IKSolutionError;
//Drive Servos
if (g_InControlState.fHexOn) {
if (g_InControlState.fHexOn && !g_InControlState.fPrev_HexOn) {
MSound(SOUND_PIN, 3, 60, 2000, 80, 2250, 100, 2500);
#ifdef USEXBEE
XBeePlaySounds(3, 60, 2000, 80, 2250, 100, 2500);
#endif
Eyes = 1;
}
//Calculate Servo Move time
if ((abs(g_InControlState.TravelLength.x)>cTravelDeadZone) || (abs(g_InControlState.TravelLength.z)>cTravelDeadZone) ||
(abs(g_InControlState.TravelLength.y*2)>cTravelDeadZone)) {
ServoMoveTime = NomGaitSpeed + (g_InControlState.InputTimeDelay*2) + g_InControlState.SpeedControl;
//Add aditional delay when Balance mode is on
if (g_InControlState.BalanceMode)
ServoMoveTime = ServoMoveTime + 100;
} else //Movement speed excl. Walking
ServoMoveTime = 200 + g_InControlState.SpeedControl;
// note we broke up the servo driver into start/commit that way we can output all of the servo information
// before we wait and only have the termination information to output after the wait. That way we hopefully
// be more accurate with our timings...
StartUpdateServos();
// See if we need to sync our processor with the servo driver while walking to ensure the prev is completed before sending the next one
fContinueWalking = false;
// Finding any incident of GaitPos/Rot <>0:
for (LegIndex = 0; LegIndex <= 5; LegIndex++) {
if ( (GaitPosX[LegIndex] > 2) || (GaitPosX[LegIndex] < -2)
|| (GaitPosY[LegIndex] > 2) || (GaitPosY[LegIndex] < -2)
|| (GaitPosZ[LegIndex] > 2) || (GaitPosZ[LegIndex] < -2)
|| (GaitRotY[LegIndex] > 2) || (GaitRotY[LegIndex] < -2) ) {
fContinueWalking = true;
break;
}
}
if (fWalking || fContinueWalking) {
word wDelayTime;
fWalking = fContinueWalking;
//Get endtime and calculate wait time
lTimerEnd = millis();
if (lTimerEnd > lTimerStart)
CycleTime = lTimerEnd-lTimerStart;
else
CycleTime = 0xffffffffL - lTimerEnd + lTimerStart + 1;
// if it is less, use the last cycle time...
//Wait for previous commands to be completed while walking
wDelayTime = (min(max ((PrevServoMoveTime - CycleTime), 1), NomGaitSpeed));
delay (wDelayTime);
}
} else {
//Turn the bot off
if (g_InControlState.fPrev_HexOn || (AllDown= 0)) {
ServoMoveTime = 600;
StartUpdateServos();
g_ServoDriver.CommitServoDriver(ServoMoveTime);
MSound(SOUND_PIN, 3, 100, 2500, 80, 2250, 60, 2000);
#ifdef USEXBEE
XBeePlaySounds(3, 100, 2500, 80, 2250, 60, 2000);
#endif
delay(600);
} else {
g_ServoDriver.FreeServos();
Eyes = 0;
}
// We also have a simple debug monitor that allows us to
// check things. call it here..
#ifdef OPT_TERMINAL_MONITOR
if (TerminalMonitor())
return;
#endif
delay(20); // give a pause between times we call if nothing is happening
}
// Xan said Needed to be here...
g_ServoDriver.CommitServoDriver(ServoMoveTime);
PrevServoMoveTime = ServoMoveTime;
//Store previous g_InControlState.fHexOn State
if (g_InControlState.fHexOn)
g_InControlState.fPrev_HexOn = 1;
else
g_InControlState.fPrev_HexOn = 0;
}
void StartUpdateServos()
{
byte LegIndex;
// First call off to the init...
g_ServoDriver.BeginServoUpdate(); // Start the update
for (LegIndex = 0; LegIndex <= 5; LegIndex++) {
#ifdef c4DOF
g_ServoDriver.OutputServoInfoForLeg(LegIndex, CoxaAngle1[LegIndex], FemurAngle1[LegIndex], TibiaAngle1[LegIndex], TarsAngle1[LegIndex]);
#else
g_ServoDriver.OutputServoInfoForLeg(LegIndex, CoxaAngle1[LegIndex], FemurAngle1[LegIndex], TibiaAngle1[LegIndex]);
#endif
}
}
//--------------------------------------------------------------------
//[WriteOutputs] Updates the state of the leds
//--------------------------------------------------------------------
void WriteOutputs(void)
{
#ifdef cEyesPin
digitalWrite(cEyesPin, Eyes);
#endif
}
//--------------------------------------------------------------------
//[CHECK VOLTAGE]
//Reads the input voltage and shuts down the bot when the power drops
byte s_bLVBeepCnt;
bool CheckVoltage() {
#ifdef cVoltagePin
#ifdef cTurnOffVol
Voltage = analogRead(cVoltagePin); // Battery voltage
Voltage = ((long)Voltage*1955)/1000;
if (!g_fLowVoltageShutdown) {
if ((Voltage < cTurnOffVol) || (Voltage >= 1999)) {
#ifdef DBGSerial
DBGSerial.println("Voltage went low, turn off robot");
#endif
//Turn off
g_InControlState.BodyPos.x = 0;
g_InControlState.BodyPos.y = 0;
g_InControlState.BodyPos.z = 0;
g_InControlState.BodyRot1.x = 0;
g_InControlState.BodyRot1.y = 0;
g_InControlState.BodyRot1.z = 0;
g_InControlState.TravelLength.x = 0;
g_InControlState.TravelLength.z = 0;
g_InControlState.TravelLength.y = 0;
g_InControlState.SelectedLeg = 255;
g_fLowVoltageShutdown = 1;
s_bLVBeepCnt = 0; // how many times we beeped...
g_InControlState.fHexOn = false;
}
#ifdef cTurnOnVol
} else if ((Voltage > cTurnOnVol) && (Voltage < 1999)) {
#ifdef DBGSerial
DBGSerial.println("Voltage restored");
#endif
g_fLowVoltageShutdown = 0;
#endif
} else {
if (s_bLVBeepCnt < 5) {
s_bLVBeepCnt++;
MSound(SOUND_PIN, 1, 45, 2000);
}
delay(2000);
}
#endif
#endif
return g_fLowVoltageShutdown;
}
//--------------------------------------------------------------------
//[SINGLE LEG CONTROL]
void SingleLegControl(void)
{
//Check if all legs are down
AllDown = (LegPosY[cRF]==(short)pgm_read_word(&cInitPosY[cRF])) &&
(LegPosY[cRM]==(short)pgm_read_word(&cInitPosY[cRM])) &&
(LegPosY[cRR]==(short)pgm_read_word(&cInitPosY[cRR])) &&
(LegPosY[cLR]==(short)pgm_read_word(&cInitPosY[cLR])) &&
(LegPosY[cLM]==(short)pgm_read_word(&cInitPosY[cLM])) &&
(LegPosY[cLF]==(short)pgm_read_word(&cInitPosY[cLF]));
if (g_InControlState.SelectedLeg<=5) {
if (g_InControlState.SelectedLeg!=PrevSelectedLeg) {
if (AllDown) { //Lift leg a bit when it got selected
LegPosY[g_InControlState.SelectedLeg] = (short)pgm_read_word(&cInitPosY[g_InControlState.SelectedLeg])-20;
//Store current status
PrevSelectedLeg = g_InControlState.SelectedLeg;
} else {//Return prev leg back to the init position
LegPosX[PrevSelectedLeg] = (short)pgm_read_word(&cInitPosX[PrevSelectedLeg]);
LegPosY[PrevSelectedLeg] = (short)pgm_read_word(&cInitPosY[PrevSelectedLeg]);
LegPosZ[PrevSelectedLeg] = (short)pgm_read_word(&cInitPosZ[PrevSelectedLeg]);
}
} else if (!g_InControlState.fSLHold) {
LegPosY[g_InControlState.SelectedLeg] = LegPosY[g_InControlState.SelectedLeg]+g_InControlState.SLLeg.y;
LegPosX[g_InControlState.SelectedLeg] = (short)pgm_read_word(&cInitPosX[g_InControlState.SelectedLeg])+g_InControlState.SLLeg.x;
LegPosZ[g_InControlState.SelectedLeg] = (short)pgm_read_word(&cInitPosZ[g_InControlState.SelectedLeg])+g_InControlState.SLLeg.z;
}
} else {//All legs to init position
if (!AllDown) {
for(LegIndex = 0; LegIndex <= 5;LegIndex++) {
LegPosX[LegIndex] = (short)pgm_read_word(&cInitPosX[LegIndex]);
LegPosY[LegIndex] = (short)pgm_read_word(&cInitPosY[LegIndex]);
LegPosZ[LegIndex] = (short)pgm_read_word(&cInitPosZ[LegIndex]);
}
}
if (PrevSelectedLeg!=255)
PrevSelectedLeg = 255;
}
}
//--------------------------------------------------------------------
void GaitSelect(void)
{
//Gait selector
switch (g_InControlState.GaitType) {
case 0:
//Ripple Gait 12 steps
GaitLegNr[cLR] = 1;
GaitLegNr[cRF] = 3;
GaitLegNr[cLM] = 5;
GaitLegNr[cRR] = 7;
GaitLegNr[cLF] = 9;
GaitLegNr[cRM] = 11;
NrLiftedPos = 3;
HalfLiftHeigth = 3;
TLDivFactor = 8;
StepsInGait = 12;
NomGaitSpeed = 70;
break;
case 1:
//Tripod 8 steps
GaitLegNr[cLR] = 5;
GaitLegNr[cRF] = 1;
GaitLegNr[cLM] = 1;
GaitLegNr[cRR] = 1;
GaitLegNr[cLF] = 5;
GaitLegNr[cRM] = 5;
NrLiftedPos = 3;
HalfLiftHeigth = 3;
TLDivFactor = 4;
StepsInGait = 8;
NomGaitSpeed = 70;
break;
case 2:
//Triple Tripod 12 step
GaitLegNr[cRF] = 3;
GaitLegNr[cLM] = 4;
GaitLegNr[cRR] = 5;
GaitLegNr[cLF] = 9;
GaitLegNr[cRM] = 10;
GaitLegNr[cLR] = 11;
NrLiftedPos = 3;
HalfLiftHeigth = 3;
TLDivFactor = 8;
StepsInGait = 12;
NomGaitSpeed = 60;
break;
case 3:
// Triple Tripod 16 steps, use 5 lifted positions
GaitLegNr[cRF] = 4;
GaitLegNr[cLM] = 5;
GaitLegNr[cRR] = 6;
GaitLegNr[cLF] = 12;
GaitLegNr[cRM] = 13;
GaitLegNr[cLR] = 14;
NrLiftedPos = 5;
HalfLiftHeigth = 1;
TLDivFactor = 10;
StepsInGait = 16;
NomGaitSpeed = 60;
break;
case 4:
//Wave 24 steps
GaitLegNr[cLR] = 1;
GaitLegNr[cRF] = 21;
GaitLegNr[cLM] = 5;
GaitLegNr[cRR] = 13;
GaitLegNr[cLF] = 9;
GaitLegNr[cRM] = 17;
NrLiftedPos = 3;
HalfLiftHeigth = 3;
TLDivFactor = 20;
StepsInGait = 24;
NomGaitSpeed = 70;
break;
}
}
//--------------------------------------------------------------------
//[GAIT Sequence]
void GaitSeq(void)
{
//Check if the Gait is in motion
TravelRequest = ((abs(g_InControlState.TravelLength.x)>cTravelDeadZone) || (abs(g_InControlState.TravelLength.z)>cTravelDeadZone) || (abs(g_InControlState.TravelLength.y)>cTravelDeadZone));
if (NrLiftedPos == 5)
LiftDivFactor = 4;
else
LiftDivFactor = 2;
//Calculate Gait sequence
LastLeg = 0;
for (LegIndex = 0; LegIndex <= 5; LegIndex++) { // for all legs
if (LegIndex == 5) // last leg
LastLeg = 1 ;
Gait(LegIndex);
} // next leg
}
//--------------------------------------------------------------------
//[GAIT]
void Gait (byte GaitCurrentLegNr)
{
//Clear values under the cTravelDeadZone
if (!TravelRequest) {
g_InControlState.TravelLength.x=0;
g_InControlState.TravelLength.z=0;
g_InControlState.TravelLength.y=0;
}
//Leg middle up position
//Gait in motion Gait NOT in motion, return to home position
if ((TravelRequest && (NrLiftedPos==1 || NrLiftedPos==3 || NrLiftedPos==5) &&
GaitStep==GaitLegNr[GaitCurrentLegNr]) || (!TravelRequest && GaitStep==GaitLegNr[GaitCurrentLegNr] && ((abs(GaitPosX[GaitCurrentLegNr])>2) ||
(abs(GaitPosZ[GaitCurrentLegNr])>2) || (abs(GaitRotY[GaitCurrentLegNr])>2)))) { //Up
GaitPosX[GaitCurrentLegNr] = 0;
GaitPosY[GaitCurrentLegNr] = -g_InControlState.LegLiftHeight;
GaitPosZ[GaitCurrentLegNr] = 0;
GaitRotY[GaitCurrentLegNr] = 0;
}
//Optional Half heigth Rear (2, 3, 5 lifted positions)
else if (((NrLiftedPos==2 && GaitStep==GaitLegNr[GaitCurrentLegNr]) || (NrLiftedPos>=3 &&
(GaitStep==GaitLegNr[GaitCurrentLegNr]-1 || GaitStep==GaitLegNr[GaitCurrentLegNr]+(StepsInGait-1))))
&& TravelRequest) {
GaitPosX[GaitCurrentLegNr] = -g_InControlState.TravelLength.x/LiftDivFactor;
GaitPosY[GaitCurrentLegNr] = -3*g_InControlState.LegLiftHeight/(3+HalfLiftHeigth); //Easier to shift between div factor: /1 (3/3), /2 (3/6) and 3/4
GaitPosZ[GaitCurrentLegNr] = -g_InControlState.TravelLength.z/LiftDivFactor;
GaitRotY[GaitCurrentLegNr] = -g_InControlState.TravelLength.y/LiftDivFactor;
}
// Optional Half heigth front (2, 3, 5 lifted positions)
else if ((NrLiftedPos>=2) && (GaitStep==GaitLegNr[GaitCurrentLegNr]+1 || GaitStep==GaitLegNr[GaitCurrentLegNr]-(StepsInGait-1)) && TravelRequest) {
GaitPosX[GaitCurrentLegNr] = g_InControlState.TravelLength.x/LiftDivFactor;
GaitPosY[GaitCurrentLegNr] = -3*g_InControlState.LegLiftHeight/(3+HalfLiftHeigth); // Easier to shift between div factor: /1 (3/3), /2 (3/6) and 3/4
GaitPosZ[GaitCurrentLegNr] = g_InControlState.TravelLength.z/LiftDivFactor;
GaitRotY[GaitCurrentLegNr] = g_InControlState.TravelLength.y/LiftDivFactor;
}
//Optional Half heigth Rear 5 LiftedPos (5 lifted positions)
else if (((NrLiftedPos==5 && (GaitStep==GaitLegNr[GaitCurrentLegNr]-2 ))) && TravelRequest) {
GaitPosX[GaitCurrentLegNr] = -g_InControlState.TravelLength.x/2;
GaitPosY[GaitCurrentLegNr] = -g_InControlState.LegLiftHeight/2;
GaitPosZ[GaitCurrentLegNr] = -g_InControlState.TravelLength.z/2;
GaitRotY[GaitCurrentLegNr] = -g_InControlState.TravelLength.y/2;
}
//Optional Half heigth Front 5 LiftedPos (5 lifted positions)
else if ((NrLiftedPos==5) && (GaitStep==GaitLegNr[GaitCurrentLegNr]+2 || GaitStep==GaitLegNr[GaitCurrentLegNr]-(StepsInGait-2)) && TravelRequest) {
GaitPosX[GaitCurrentLegNr] = g_InControlState.TravelLength.x/2;
GaitPosY[GaitCurrentLegNr] = -g_InControlState.LegLiftHeight/2;
GaitPosZ[GaitCurrentLegNr] = g_InControlState.TravelLength.z/2;
GaitRotY[GaitCurrentLegNr] = g_InControlState.TravelLength.y/2;
}
//Leg front down position
else if ((GaitStep==GaitLegNr[GaitCurrentLegNr]+NrLiftedPos || GaitStep==GaitLegNr[GaitCurrentLegNr]-(StepsInGait-NrLiftedPos))
&& GaitPosY[GaitCurrentLegNr]<0) {
GaitPosX[GaitCurrentLegNr] = g_InControlState.TravelLength.x/2;
GaitPosZ[GaitCurrentLegNr] = g_InControlState.TravelLength.z/2;
GaitRotY[GaitCurrentLegNr] = g_InControlState.TravelLength.y/2;
GaitPosY[GaitCurrentLegNr] = 0; //Only move leg down at once if terrain adaption is turned off
}
//Move body forward
else {
GaitPosX[GaitCurrentLegNr] = GaitPosX[GaitCurrentLegNr] - (g_InControlState.TravelLength.x/TLDivFactor);
GaitPosY[GaitCurrentLegNr] = 0;
GaitPosZ[GaitCurrentLegNr] = GaitPosZ[GaitCurrentLegNr] - (g_InControlState.TravelLength.z/TLDivFactor);
GaitRotY[GaitCurrentLegNr] = GaitRotY[GaitCurrentLegNr] - (g_InControlState.TravelLength.y/TLDivFactor);
}
//Advance to the next step
if (LastLeg) { //The last leg in this step
GaitStep = GaitStep+1;
if (GaitStep>StepsInGait)
GaitStep = 1;
}
}
//--------------------------------------------------------------------
//[BalCalcOneLeg]
void BalCalcOneLeg (short PosX, short PosZ, short PosY, byte BalLegNr)
{
short CPR_X; //Final X value for centerpoint of rotation
short CPR_Y; //Final Y value for centerpoint of rotation
short CPR_Z; //Final Z value for centerpoint of rotation
long lAtan;
//Calculating totals from center of the body to the feet
CPR_Z = (short)pgm_read_word(&cOffsetZ[BalLegNr]) + PosZ;
CPR_X = (short)pgm_read_word(&cOffsetX[BalLegNr]) + PosX;
CPR_Y = 150 + PosY; // using the value 150 to lower the centerpoint of rotation 'g_InControlState.BodyPos.y +
TotalTransY += (long)PosY;
TotalTransZ += (long)CPR_Z;
TotalTransX += (long)CPR_X;
lAtan = GetATan2(CPR_X, CPR_Z);
TotalYBal1 += (lAtan*1800) / 31415;
lAtan = GetATan2 (CPR_X, CPR_Y);
TotalZBal1 += ((lAtan*1800) / 31415) -900; //Rotate balance circle 90 deg
lAtan = GetATan2 (CPR_Z, CPR_Y);
TotalXBal1 += ((lAtan*1800) / 31415) - 900; //Rotate balance circle 90 deg
}
//--------------------------------------------------------------------
//[BalanceBody]
void BalanceBody(void)
{
TotalTransZ = TotalTransZ/BalanceDivFactor ;
TotalTransX = TotalTransX/BalanceDivFactor;
TotalTransY = TotalTransY/BalanceDivFactor;
if (TotalYBal1 > 0) //Rotate balance circle by +/- 180 deg
TotalYBal1 -= 1800;
else
TotalYBal1 += 1800;
if (TotalZBal1 < -1800) //Compensate for extreme balance positions that causes owerflow
TotalZBal1 += 3600;
if (TotalXBal1 < -1800) //Compensate for extreme balance positions that causes owerflow
TotalXBal1 += 3600;
//Balance rotation
TotalYBal1 = -TotalYBal1/BalanceDivFactor;
TotalXBal1 = -TotalXBal1/BalanceDivFactor;
TotalZBal1 = TotalZBal1/BalanceDivFactor;
}
//--------------------------------------------------------------------
//[GETSINCOS] Get the sinus and cosinus from the angle +/- multiple circles
//AngleDeg1 - Input Angle in degrees
//sin4 - Output Sinus of AngleDeg
//cos4 - Output Cosinus of AngleDeg
void GetSinCos(short AngleDeg1)
{
short ABSAngleDeg1; //Absolute value of the Angle in Degrees, decimals = 1
//Get the absolute value of AngleDeg
if (AngleDeg1 < 0)
ABSAngleDeg1 = AngleDeg1 *-1;
else
ABSAngleDeg1 = AngleDeg1;
//Shift rotation to a full circle of 360 deg -> AngleDeg // 360
if (AngleDeg1 < 0) //Negative values
AngleDeg1 = 3600-(ABSAngleDeg1-(3600*(ABSAngleDeg1/3600)));
else //Positive values
AngleDeg1 = ABSAngleDeg1-(3600*(ABSAngleDeg1/3600));
if (AngleDeg1>=0 && AngleDeg1<=900) // 0 to 90 deg
{
sin4 = pgm_read_word(&GetSin[AngleDeg1/5]); // 5 is the presision (0.5) of the table
cos4 = pgm_read_word(&GetSin[(900-(AngleDeg1))/5]);
}
else if (AngleDeg1>900 && AngleDeg1<=1800) // 90 to 180 deg
{
sin4 = pgm_read_word(&GetSin[(900-(AngleDeg1-900))/5]); // 5 is the presision (0.5) of the table
cos4 = -pgm_read_word(&GetSin[(AngleDeg1-900)/5]);
}
else if (AngleDeg1>1800 && AngleDeg1<=2700) // 180 to 270 deg
{
sin4 = -pgm_read_word(&GetSin[(AngleDeg1-1800)/5]); // 5 is the presision (0.5) of the table
cos4 = -pgm_read_word(&GetSin[(2700-AngleDeg1)/5]);
}
else if(AngleDeg1>2700 && AngleDeg1<=3600) // 270 to 360 deg
{
sin4 = -pgm_read_word(&GetSin[(3600-AngleDeg1)/5]); // 5 is the presision (0.5) of the table
cos4 = pgm_read_word(&GetSin[(AngleDeg1-2700)/5]);
}
}
//--------------------------------------------------------------------
//(GETARCCOS) Get the sinus and cosinus from the angle +/- multiple circles
//cos4 - Input Cosinus
//AngleRad4 - Output Angle in AngleRad4
long GetArcCos(short cos4)
{
boolean NegativeValue/*:1*/; //If the the value is Negative
//Check for negative value
if (cos4<0)
{
cos4 = -cos4;
NegativeValue = 1;
}
else
NegativeValue = 0;
//Limit cos4 to his maximal value
cos4 = min(cos4,c4DEC);
if ((cos4>=0) && (cos4<9000))
{
AngleRad4 = (byte)pgm_read_byte(&GetACos[cos4/79]);
AngleRad4 = ((long)AngleRad4*616)/c1DEC; //616=acos resolution (pi/2/255) ;
}
else if ((cos4>=9000) && (cos4<9900))
{
AngleRad4 = (byte)pgm_read_byte(&GetACos[(cos4-9000)/8+114]);
AngleRad4 = (long)((long)AngleRad4*616)/c1DEC; //616=acos resolution (pi/2/255)
}
else if ((cos4>=9900) && (cos4<=10000))
{
AngleRad4 = (byte)pgm_read_byte(&GetACos[(cos4-9900)/2+227]);
AngleRad4 = (long)((long)AngleRad4*616)/c1DEC; //616=acos resolution (pi/2/255)
}
//Add negative sign
if (NegativeValue)
AngleRad4 = 31416 - AngleRad4;
return AngleRad4;
}
unsigned long isqrt32 (unsigned long n) //
{