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hexapod_desktop_app.cpp
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hexapod_desktop_app.cpp
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/**
* S T E W A R T P L A T F O R M O N E S P 3 2
*
* Copyright (C) 2019 Nicolas Jeanmonod, ouilogique.com
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
// USER CHOICES
// Number of intervals
const double nb_intervals = 1;
// Reduce min/max
const double shrink = 3;
#include <iostream>
#include <fstream>
#include <sstream>
// #include <iomanip>
// #include <string>
#include <time.h>
#include "Hexapod_Kinematics.h"
using namespace std;
// Variables.
Hexapod_Kinematics hk; // Stewart platform object.
angle_t servo_angles[NB_SERVOS];
int movOK = -1;
ofstream angle_file;
double cpu_time_used;
double counter = 0;
// Print dimensions
const uint8_t SMALL_WIDTH = 7;
const uint8_t LARGE_WIDTH = 17;
const uint8_t ALL_WIDTH = 151; // 168;
time_t rawtime;
struct tm *timeinfo;
char buffer[80];
void calcAndPrintResults(platform_t coords)
{
const uint16_t averaging_count = 1000;
clock_t T0 = clock();
for (size_t _i = 0; _i < averaging_count; _i++)
{
// On mac M1, the computation takes about 1 µs which is hard to measure.
// So we loop several times to average the time.
movOK = hk.calcServoAngles(coords, servo_angles);
}
double deltaT = difftime(clock(), T0) / averaging_count;
cpu_time_used += deltaT;
counter++;
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << coords.hx_x;
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << coords.hx_y;
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << coords.hx_z;
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << degrees(coords.hx_a);
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << degrees(coords.hx_b);
angle_file << fixed << setprecision(1) << setw(SMALL_WIDTH) << setfill(' ') << degrees(coords.hx_c);
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << movOK;
// angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << deltaT;
if (movOK >= 0)
{
for (uint8_t id = 0; id < NB_SERVOS; id++)
{
#define WHAT_TO_PRINT 2
#if WHAT_TO_PRINT == 1
angle_file << fixed << setprecision(6) << setw(LARGE_WIDTH) << setfill(' ') << servo_angles[id].deg;
#elif WHAT_TO_PRINT == 2
angle_file << fixed << setprecision(6) << setw(LARGE_WIDTH) << setfill(' ') << servo_angles[id].pwm_us;
#elif WHAT_TO_PRINT == 3
angle_file << fixed << setprecision(6) << setw(LARGE_WIDTH) << setfill(' ') << servo_angles[id].rad;
#elif WHAT_TO_PRINT == 4
angle_file << fixed << setprecision(6) << setw(LARGE_WIDTH) << setfill(' ') << servo_angles[id].debug;
#endif
}
}
angle_file << endl;
}
int main()
{
// Prepare file for output.
stringstream ss;
string file_name_str;
ss << "angles_with_config_" << HEXAPOD_CONFIG << "_cpp.txt";
file_name_str = ss.str();
char *fname = &file_name_str[0u];
angle_file.open(fname);
// Print column titles.
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "X";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "Y";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "Z";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "A";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "B";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "C";
angle_file << fixed << setw(SMALL_WIDTH) << setfill(' ') << "movOK";
// angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "dT (us)";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 1";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 2";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 3";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 4";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 5";
angle_file << fixed << setw(LARGE_WIDTH) << setfill(' ') << "ANGLE 6";
// Print separator.
angle_file << endl;
angle_file << fixed << setw(ALL_WIDTH) << setfill('=') << "" << endl;
// 0
calcAndPrintResults({0, 0, 0, 0, 0, 0});
calcAndPrintResults({0, 0, HX_Z_MAX, 0, 0, 0});
calcAndPrintResults({0, 0, HX_Z_MIN, 0, 0, 0});
angle_file << fixed << setw(ALL_WIDTH) << setfill('=') << "" << endl;
// Compute and print angles in the respective min/max ranges.
for (double hx_x = HX_X_MIN / shrink; hx_x <= HX_X_MAX / shrink; hx_x += (HX_X_MAX - HX_X_MIN) / nb_intervals / shrink)
{
for (double hx_y = HX_Y_MIN / shrink; hx_y <= HX_Y_MAX / shrink; hx_y += (HX_Y_MAX - HX_Y_MIN) / nb_intervals / shrink)
{
for (double hx_z = HX_Z_MIN / shrink; hx_z <= HX_Z_MAX / shrink; hx_z += (HX_Z_MAX - HX_Z_MIN) / nb_intervals / shrink)
{
for (double hx_a = HX_A_MIN / shrink; hx_a <= HX_A_MAX / shrink; hx_a += (HX_A_MAX - HX_A_MIN) / nb_intervals / shrink)
{
for (double hx_b = HX_B_MIN / shrink; hx_b <= HX_B_MAX / shrink; hx_b += (HX_B_MAX - HX_B_MIN) / nb_intervals / shrink)
{
for (double hx_c = HX_C_MIN / shrink; hx_c <= HX_C_MAX / shrink; hx_c += (HX_C_MAX - HX_C_MIN) / nb_intervals / shrink)
{
calcAndPrintResults({hx_x, hx_y, hx_z, hx_a, hx_b, hx_c});
}
}
}
}
}
}
angle_file << "\n\nSTEWART PLATFORM\n";
// angle_file << "COMPILATION DATE AND TIME\n";
// time(&rawtime);
// timeinfo = localtime(&rawtime);
// strftime(buffer, 80, "%Y-%m-%d", timeinfo);
// angle_file << buffer << endl;
// strftime(buffer, 80, "%H:%M:%S", timeinfo);
// angle_file << buffer << endl;
angle_file << "HEXAPOD_CONFIG : " << HEXAPOD_CONFIG << endl;
angle_file << "ALGORITHM : " << ALGO << endl;
angle_file << "LANGAGE : C++" << endl;
cpu_time_used = cpu_time_used * 1.0E6 / CLOCKS_PER_SEC;
angle_file << fixed;
angle_file.precision(1);
angle_file << "Total time elapsed (µs) : " << cpu_time_used << endl;
angle_file.precision(3);
angle_file << "Time per calculation (µs) : " << cpu_time_used / counter << endl;
angle_file.precision(0);
angle_file << "Calculation count : " << counter << endl;
angle_file << endl;
// Done.
angle_file.close();
// Reopen and print results in the console.
freopen(fname, "rb", stdin);
string line;
while (getline(cin, line))
cout << line << endl;
return 0;
}