Joseph Bradshaw
Serial interface for controlling robotic arm.
This program uses a LPC1768 processor for controlling a robotic arm. The basis for the program is the Axis () class which uses a PID controller to actuate a DC motor with quadrature encoder feedback.
Youtube video of robotic arm using the 6-axis controller performing an internally programmed gate, then performing the home function.
https://developer.mbed.org/users/jebradshaw/code/Axis/
The Axis Class has 3 dependencies (MotCon, LS7366LIB, and PID). The class encapsulates the required functionality of controlling a DC motor with encoder feedback through pin assignments, an SPI bus, and a pointer for the limit switch source.
The LS7366 encoder interface IC off-loads the critical time and counting requirements from the processor using an SPI bus interface for the class. The Axis class then uses a state machine to perform trapezoidal movement profiles with a Ticker class. Parameters can be adjusted through the serial interface using a FT232RL USB to serial interface IC for computer communication.
The MotCon class is a basic class that defines a PWM output pin and a single direction signal intended to control an H-Bridge motor driver IC. I used an MC33926 motor driver for each motor which are rated at 5.0-28V and 5.0 amp peak, with an RDSon max resistance of 225 milli-ohms. This part also has 3.0V to 5V TTL/CMOS inputs logic levels and various protection circuitry on board. I also liked this particular motor driver chip because you can use a PWM frequency of up to 20KHz, getting the frequency out of the audio range.
Above is the prototype for the controller. Originally, a PCF8574 I/O expander was used to read the limit switches by the I2C bus. This has now been re-written to use 6 external interrupts directly for the limit/homing switches. Six motor driver breakout boards using the MC33926 motor driver chip were used to drive the motors.
I use the mbed online compiler to generate the .bin file, use bin2hex to convert it and upload the hex file using Flash Magic to the processor with the serial bootloader. I prefer to use the FT232RL usb to serial converter IC for PC comms due to the high level of reliability and USB driver support (typically already built in Windows 7+). I've started putting this on a PCB and hope to finish by the end of the month (Dec 2015).
Well 3 months later, I've completed the first PCB prototype. A few minor errors but it's working!!
Express PCB Artwork
Inner Power Layer Breakup for motor current
First Prototype
Latest documentation (schematic and parts layout) can be found here Download and open with Adobe /media/uploads/jebradshaw/axiscontroller_schematics_v2.0.pdf
Latest PCB File (Express PCB) /media/uploads/jebradshaw/lpc1768_axiscontroller_20161216.pcb
Parts Layout
Python script for converting mbed .bin output to intel hex format (no bin2hex 64K limit) https://pypi.python.org/pypi/IntelHex
Example batch script for speeding up conversion process for FlashMagic (http://www.flashmagictool.com/) programming of board /media/uploads/jebradshaw/axisconvert.bat
https://os.mbed.com/users/jebradshaw/code/axis_ScorbotController_20180706/
Latest firmware: 20190823 - /media/uploads/jebradshaw/axis_scorbotcontroller_20190823_velocity_test.lpc1768.bin
Diff: lpc_axis.cpp
- Revision:
- 3:1892943e3f25
- Parent:
- 2:e5d56ee55af6
- Child:
- 4:890c104546e9
--- a/lpc_axis.cpp Wed Sep 30 16:22:51 2015 +0000
+++ b/lpc_axis.cpp Thu Dec 17 19:47:39 2015 +0000
@@ -24,20 +24,22 @@
Serial pc(P0_2, P0_3); //pc serial interface (USB)
SPI spi(P0_9, P0_8, P0_7); //MOSI, MISO, SCK
-int limit0, limit1, limit2, limit3, limit4, limit5; //global limit switch values
-
+int limit1, limit2, limit3, limit4, limit5, limit6; //global limit switch values
+float axis1_I,axis2_I,axis3_I,axis4_I,axis5_I,axis6_I;
+int streamFlag=0;
Timer t;
//instantiate axis object NAME(spi bus, LS7366_cs, pwm, dir, analog, limitSwitchAddress, TotalEncoderCounts/axis)
-Axis axis1(spi, P1_24, P2_5, P1_0, P0_23, &limit0, 25000.0); //base
-Axis axis2(spi, P1_25, P2_4, P1_1, P0_24, &limit1, 17500); //shoulder
-Axis axis3(spi, P1_26, P2_3, P1_4, P0_25, &limit2, 20500); //elbow
-Axis axis4(spi, P1_27, P2_2, P1_8, P0_26, &limit3, 5000); //pitch/roll
-Axis axis5(spi, P1_28, P2_1, P1_9, P1_30, &limit4, 5000); //pitch/roll
-Axis axis6(spi, P1_29, P2_0, P1_10, P1_31, &limit5, 5400); //grip
+Axis axis1(spi, P1_24, P2_5, P1_0, P0_23, &limit1, 25000.0); //base
+Axis axis2(spi, P1_25, P2_4, P1_1, P0_24, &limit2, 17500); //shoulder
+Axis axis3(spi, P1_26, P2_3, P1_4, P0_25, &limit3, 20500); //elbow
+Axis axis4(spi, P1_27, P2_2, P1_8, P0_26, &limit4, 5000); //pitch/roll
+Axis axis5(spi, P1_28, P2_1, P1_9, P1_30, &limit5, 5000); //pitch/roll
+Axis axis6(spi, P1_29, P2_0, P1_10, P1_31, &limit6, 5400); //grip
PCF8574 pcf(P0_10,P0_11,PCF8574_ADDR,false); // Declare PCF8574 i2c with sda and scl (p28,p27) (10K pullups!)
//uint8_t data;
Ticker pulse;
+Ticker colCheck;
static void myerror(std::string msg)
{
@@ -47,65 +49,79 @@
void updateLimitSwitches(int state){
if((state & 0x01) == 0x01)
- limit0 = 1;
+ limit1 = 1;
else
- limit0 = 0;
+ limit1 = 0;
if((state & 0x02) == 0x02)
- limit1 = 1;
- else
- limit1 = 0;
-
- if((state & 0x04) == 0x04)
limit2 = 1;
else
limit2 = 0;
- if((state & 0x08) == 0x08)
+ if((state & 0x04) == 0x04)
limit3 = 1;
else
limit3 = 0;
-
- if((state & 0x10) == 0x10)
+
+ if((state & 0x08) == 0x08)
limit4 = 1;
else
limit4 = 0;
-
- if((state & 0x20) == 0x20)
+
+ if((state & 0x10) == 0x10)
limit5 = 1;
else
limit5 = 0;
+
+ if((state & 0x20) == 0x20)
+ limit6 = 1;
+ else
+ limit6 = 0;
}
void pcf8574_it(uint8_t data, PCF8574 *o)
{
int state;
state = pcf.read();
- printf("PCF8574 interrupt data = %02x\n",state);
+ //printf("PCF8574 interrupt data = %02x\n",state);
updateLimitSwitches(state);
}
-void home_test(void){
- axis2.pid->setInputLimits(-20000.0, 20000.0);
- while(*axis2.ptr_limit == 1){
- axis2.set_point += 100;
- axis2.pid->setSetPoint(axis2.set_point);
-
- axis3.set_point -= 100;
- axis3.pid->setSetPoint(axis3.set_point);
-
- wait(.05);
- if(axis1.debug)
- printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d\r\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc,*axis1.ptr_limit);
- }
-
- axis2.set_point -= 1000;
- axis2.pid->setSetPoint(axis2.set_point);
- wait(.5);
-
- axis1.center();
+void zero_axis(int axis){
+ switch(axis){
+ case 1:
+ axis1.zero();
+ break;
+
+ case 2:
+ axis2.zero();
+ break;
+
+ case 3:
+ axis3.zero();
+ break;
+
+ case 4:
+ axis4.zero();
+ break;
+
+ case 5:
+ axis5.zero();
+ break;
+
+ case 6:
+ axis6.zero();
+ break;
+ }
}
+void zero_all(void){
+ for(int i=1;i<=6;i++){
+ zero_axis(i);
+ wait(.005);
+ }
+}
+
void alive(void){
led1 = !led1;
if(led1)
@@ -114,32 +130,340 @@
pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
}
-int collisionCheck(void){
- float current;
- current = axis1.readCurrent();
- pc.printf("\r\n%.3f ", current);
- current = axis2.readCurrent();
- pc.printf("%.3f ", current);
- current = axis3.readCurrent();
- pc.printf("%.3f ", current);
- current = axis4.readCurrent();
- pc.printf("%.3f ", current);
- current = axis5.readCurrent();
- pc.printf("%.3f ", current);
- current = axis6.readCurrent();
- pc.printf("%.3f\r\n", current);
+void collisionCheck(void){
+ float stall_I = .3;
+
+ axis1_I = axis1.readCurrent();
+ axis2_I = axis2.readCurrent();
+ axis3_I = axis3.readCurrent();
+ axis4_I = axis4.readCurrent();
+ axis5_I = axis5.readCurrent();
+ axis6_I = axis6.readCurrent();
+// pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f \r\n", axis1_I, axis2_I, axis3_I, axis4_I, axis5_I, axis6_I);
+
+ //analog channels 1 and 2 are damaged on initial prototype test bed
+ if(axis1_I > stall_I){
+ pc.printf("Axis 1 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+ if(axis2_I > stall_I){
+ pc.printf("Axis 2 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+ if(axis3_I > stall_I){
+ pc.printf("Axis 3 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+ if(axis4_I > stall_I){
+ pc.printf("Axis 4 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+ if(axis5_I > stall_I){
+ pc.printf("Axis 5 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+ if(axis6_I > stall_I){
+ pc.printf("Axis 6 collision detected");
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ }
+}
+
+void home_test(void){
+
+ axis1.zero();
+ axis2.zero();
+ axis3.zero();
+
+ axis1.pid->setInputLimits(-30000, 30000);
+ axis2.pid->setInputLimits(-30000, 30000);
+ axis3.pid->setInputLimits(-30000, 30000);
+
+ for(float delta=0.0;delta<200.0 && (*axis2.ptr_limit == 1) && (*axis3.ptr_limit == 1);delta+=100){
+ axis3.set_point = delta;
+ axis4.set_point = .23 * delta;
+ axis5.set_point = .23 * -delta;
+ wait(.5);
+ }
+ zero_axis(3);
+
+ for(float delta=0.0;delta>-13000.0 && (*axis3.ptr_limit == 1);delta-=100){
+ axis3.set_point = delta;
+ axis4.set_point = .249 * delta;
+ axis5.set_point = .249 * -delta;
+ wait(.5);
+ }
+
+ for(float delta=0.0;delta>-18000.0 && (*axis2.ptr_limit == 1);delta-=100){
+ axis2.set_point = delta;
+ axis3.set_point = -delta;
+ axis4.set_point = .249 * delta;
+ axis5.set_point += .249 * -delta;
+ wait(.5);
+ }
+ zero_axis(2);
+
+ for(float delta=0.0;delta<300.0 ;delta-=10){
+ axis3.set_point = delta;
+ axis4.set_point = .249 *-delta;
+ axis5.set_point = .249 * delta;
+ wait(.1);
+ }
+ zero_axis(2);
+}
+
+int home_pitch_wrist(void){
+ axis4.pid->setInputLimits(-50000, 50000);
+ axis5.pid->setInputLimits(-50000, 50000);
+
+ axis4.axisOn();
+ axis5.axisOn();
+
+ axis4.zero();
+ axis5.zero();
- return 1;
+ //first test to see if limit switch is already pressed
+ if(limit4 == 0){
+ pc.printf("Stage 1\r\n");
+ pc.printf("Limit switch 4 is already closed, moving up to release switch\r\n");
+ //move wrist up until limit switch is released again
+ while(limit4 == 0){
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit4, axis4.readCurrent(), axis5.readCurrent());
+ axis4.set_point -= 10;
+ axis5.set_point += 10;
+ wait(.08);
+ }
+ pc.printf("Switched released\r\n");
+ axis4.zero();
+ axis5.zero();
+ pc.printf("Encoders zeroed\r\n");
+ wait(.02);
+
+ pc.printf("Moving up to zero\r\n");
+ axis4.set_point = -1350;
+ axis5.set_point = 1350;
+
+ wait(2.0);
+
+ return 0; //successful home of gripper
+ }
+ else{
+ pc.printf("Stage 2\r\n");
+ axis4.zero(); //zero wrist motors
+ axis5.zero();
+ pc.printf("Move down\r\n");
+ while(limit4 == 1){
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit4, axis4.readCurrent(), axis5.readCurrent());
+ axis4.set_point += 50;
+ axis5.set_point -= 50;
+ wait(.05);
+ if(axis4.readCurrent() > .25){
+ pc.printf("Over Current detected on Axis 3\r\n");
+ axis4.zero();
+ axis5.zero();
+
+ axis4.set_point -= 3500;
+ axis5.set_point += 3500;
+
+ wait(2.0);
+
+ axis4.zero();
+ axis5.zero();
+
+ return -1;
+ }
+ if(axis5.readCurrent() > .25){
+ pc.printf("Over Current detected on Axis 5\r\n");
+ axis4.zero();
+ axis5.zero();
+
+ axis4.set_point -= 3500;
+ axis5.set_point += 3500;
+
+ wait(2.0);
+
+ axis4.zero();
+ axis5.zero();
+
+ return -2;
+ }
+ }
+
+ if(limit4 == 0){
+ while(limit4 == 0){
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit4, axis4.readCurrent(), axis5.readCurrent());
+ axis4.set_point -= 50;
+ axis5.set_point += 50;
+ wait(.08);
+ if(axis4.readCurrent() > .25){
+ pc.printf("Over Current detected on Axis 4\r\n");
+ axis4.zero();
+ axis5.zero();
+
+ axis4.set_point -= 3500;
+ axis5.set_point += 3500;
+
+ wait(2.0);
+
+ axis4.zero();
+ axis5.zero();
+
+ return -1;
+ }
+ if(axis5.readCurrent() > .25){
+ pc.printf("Over Current detected on Axis 5\r\n");
+ axis4.zero();
+ axis5.zero();
+
+ axis4.set_point -= 3500;
+ axis5.set_point += 3500;
+
+ wait(2.0);
+
+ axis4.zero();
+ axis5.zero();
+
+ return -2;
+ }
+ }
+ axis4.zero();
+ axis5.zero();
+ wait(.02);
+
+ axis4.set_point = -1350;
+ axis5.set_point = 1350;
+
+ wait(1.2);
+ axis4.zero();
+ axis5.zero();
+
+ return 0; //successful home of gripper
+ }
+ }
+ return -3; //should have homed by now
+}
+
+void home_rotate_wrist(void){
+ axis4.axisOn();
+ axis5.axisOn();
+
+ while(limit5 == 0){
+ axis4.set_point -= 100;
+ axis5.set_point -= 100;
+ wait(.05);
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit5, axis4.readCurrent(), axis5.readCurrent());
+ }
+ axis4.set_point -= 10;
+ axis5.set_point -= 10;
+ wait(.05);
+
+ while(limit5 == 1){
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit5, axis4.readCurrent(), axis5.readCurrent());
+ axis4.set_point += 10;
+ axis5.set_point += 10;
+ wait(.03);
+ }
+
+ axis4.zero();
+ axis5.zero();
+
+ pc.printf("Find amount to rotate to after switch is high again...\r\n");
+ wait(1.0);
+
+ for(float pos=0;pos>-800.0;pos-=100){
+ axis4.set_point = pos;
+ axis5.set_point = pos;
+ wait(.05);
+ pc.printf("axis4=%.1f axis5=%.1f sw=%1d I4=%f I5=%f \r\n", axis4.pos, axis5.pos, limit5, axis4.readCurrent(), axis5.readCurrent());
+ }
+ axis4.zero();
+ axis5.zero();
+}
+
+void cal_gripper(void){
+ axis6.axisOn();
+ pc.printf("\r\n Axis On, Homeing Gripper\r\n");
+ pc.printf("axis6=%.1f I6=%f \r\n", axis6.pos, axis6.readCurrent());
+ axis6.zero();
+
+ while((axis6.readCurrent() < .8) && (axis6.set_point > -6000)){
+ axis6.set_point -= 10;
+ wait(.01);
+ pc.printf("axis6=%.1f I6=%f \r\n", axis6.pos, axis6.readCurrent());
+ }
+ axis6.set_point += 50;
+ wait(.05);
+ axis6.zero();
+ wait(.02);
+
+ while((axis6.readCurrent() < .8) && (axis6.set_point < 6000)){
+ axis6.set_point += 10;
+ wait(.01);
+ pc.printf("axis6=%.1f I6=%f \r\n", axis6.pos, axis6.readCurrent());
+ }
+
+ axis6.totalCounts = axis6.set_point;
+ wait(.05);
+
+ axis6.set_point = axis6.totalCounts/2.0; //~4500 total span, ~2200 to half close
+ wait(2.0);
+ // axis6.zero(); //may remove later for 0 = grip closed
+}
+
+void all_on(void){
+ axis1.axisOn();
+ axis2.axisOn();
+ axis3.axisOn();
+ axis4.axisOn();
+ axis5.axisOn();
+ axis6.axisOn();
+}
+
+void all_off(void){
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
}
//------------------- MAIN --------------------------------
int main()
{
- wait(.2);
+ wait(.5);
pulse.attach(&alive, 2.0); // the address of the function to be attached (flip) and the interval (2 seconds)
+ //colCheck.attach(&collisionCheck, .05);
pc.baud(921600);
- //i2c.frequency(100000);
- //LimitSwitch_0.mode(PullUp); //set the mbed to use a pullup resistor
pc.printf("\r\n%s\r\n", __FILE__); //display the filename (this source file)
// Set all IO port bits to 1 to enable inputs and test error
@@ -161,12 +485,15 @@
axis5.init();
axis6.init();
- axis1.debug = 1;
- axis2.debug = 1;
- axis3.debug = 1;
- axis4.debug = 1;
- axis5.debug = 1;
- axis6.debug = 1;
+ axis6.Pk = 80.0;
+ axis6.Ik = 30.0;
+
+ // axis1.debug = 1;
+ // axis2.debug = 1;
+ // axis3.debug = 1;
+ // axis4.debug = 1;
+ // axis5.debug = 1;
+ // axis6.debug = 1;
t.start(); // Set up timer
@@ -175,42 +502,193 @@
if(pc.readable())
{
char c = pc.getc();
- if((c == 'A') || (c == 'a')){
- home_test();
- }
+
if(c == '?') //get commands
{
+ pc.printf("? - This menu of commands\r\n");
+ pc.printf("0 - Zero all encoder channels\r\n");
+ pc.printf("A - All: Enable/Disable All axes. Then 'O' for On and 'F' for Off\r\n");
+ pc.printf("C - Current: Stream the Motor Currents\r\n");
+ pc.printf("J - Stream Flag: Enable/Disable Stream. Then '1' for On and '0' for Off\r\n");
+ pc.printf("W - Wrist: Home the Gripper Wrist\r\n");
+ pc.printf("U - Up: Bring up from typical starting position (Not HOME!)\r\n");
pc.printf("T - Trapezoidal Profile Move command\r\n");
pc.printf("H- Home\r\n");
pc.printf("S- Set point in encoder counts\r\n");
- pc.printf("Z - Zero Encoder\r\n");
+ pc.printf("Z - Zero Encoder channel\r\n");
pc.printf("X - Excercise Robotic Arm\r\n");
- pc.printf("O - Axis to turn On (Default)\r\n");
- pc.printf("F - Axis to turn Off \r\n");
- pc.printf("P - Set Proportional Gain on an Axis\r\n");
+ pc.printf("O - Axis to turn On \r\n");
+ pc.printf("F - Axis to turn Off (Default)\r\n");
+ pc.printf("\r\nP - Set Proportional Gain on an Axis\r\n");
pc.printf("I - Set Integral Gain on an Axis\r\n");
- pc.printf("D - Set Derivative Gain on an Axis\r\n");
+ pc.printf("D - Set Derivative Gain on an Axis\r\n");
+ pc.printf("\r\nB - Pitch Gripper\r\n");
+ pc.printf("N - Rotate Gripper\r\n");
+ pc.printf("G - Home Gripper\r\n");
pc.printf("spacebar - Emergency Stop\r\n");
+
+ pc.printf("Press any key to continue.\r\n");
+ pc.scanf("%c",&c);
+ c = '\0'; //re-zero c
+ }
+
+ if(c == '0'){ //zero all encoders and channels
+ zero_all();
+ }
+ // All: Enable/Disable ALL motors (On or Off)
+ if((c == 'A') || (c == 'a')){
+ pc.printf("All: 'o' for all On, 'f' for all off\r\n");
+
+ pc.scanf("%c",&c);
+ if((c == 'O' || c == 'o')){
+ all_on();
+ }
+ if((c == 'F' || c == 'f')){
+ all_off();
+ }
+ c = '\0'; //clear c
+ }
+
+ //Temporary command for Wrist Pitch
+ if(c == 'B' || c == 'b'){
+ pc.printf("Enter wrist pitch counts\r\n");
+
+ float counts;
+
+ pc.scanf("%f",&counts);
+ axis4.set_point += counts;
+ axis5.set_point += -counts;
+
+ pc.printf("%f\r\n",counts);
+ t.reset();
+ while((axis4.pos > (axis4.set_point + SP_TOL) ||
+ axis4.pos < (axis4.set_point - SP_TOL)) &&
+ (axis5.pos > (axis5.set_point + SP_TOL) ||
+ axis5.pos < (axis5.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP4=%.3f pos4=%.3f SP5=%.3f pos5=%.3f \r\n", t.read(), axis4.set_point, axis4.pos, axis5.set_point, axis5.pos);
+ wait(.009);
+ }
}
- if((c == 'X' || c == 'x')) //Excercise all axes
+
+ //wrist rotate
+ if(c == 'N' || c == 'n'){
+ pc.printf("Enter wrist rotate counts\r\n");
+
+ float counts;
+
+ pc.scanf("%f",&counts);
+ axis4.set_point += counts;
+ axis5.set_point += counts;
+
+ pc.printf("%f\r\n",counts);
+ t.reset();
+ while((axis4.pos > (axis4.set_point + SP_TOL) ||
+ axis4.pos < (axis4.set_point - SP_TOL)) &&
+ (axis5.pos > (axis5.set_point + SP_TOL) ||
+ axis5.pos < (axis5.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis4.set_point, axis4.enc, axis5.set_point, axis5.enc);
+ wait(.009);
+ }
+ }
+
+ //Current Measurement: Stream the motor currents
+ if((c == 'C') || (c == 'c')){
+ int analogFlag = 0;
+ while(analogFlag == 0){
+ axis1.readCurrent();
+ axis2.readCurrent();
+ axis3.readCurrent();
+ axis4.readCurrent();
+ axis5.readCurrent();
+ axis6.readCurrent();
+ pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f \r\n", axis1.motCurrent, axis2.motCurrent, axis3.motCurrent, axis4.motCurrent, axis5.motCurrent, axis6.motCurrent);
+ wait(.02);
+
+ if(pc.readable()){ //if user types a 'q' or 'Q'
+ char c = pc.getc();
+ if(c == 'q' || c == 'Q') //quit after current movement
+ analogFlag = 1;
+ }
+ }
+ }
+
+ //Limit: Limit Switch Monitor
+ if((c == 'L') || (c == 'l')){
+ int limitFlag = 1;
+
+ while(limitFlag){
+ pc.printf("%1d %1d %1d %1d %1d %1d %1d\r\n", limit1, limit2, limit3, limit4, limit5, limit6);
+ wait(.02);
+
+ if(pc.readable()){ //if user types a 'q' or 'Q'
+ char c = pc.getc();
+ if(c == 'q' || c == 'Q') //quit after current movement
+ limitFlag = 0;;
+ }
+ }
+ }
+
+ //W: Wrist home fuction
+ if((c == 'W') || (c == 'w')){
+ home_pitch_wrist();
+ home_rotate_wrist();
+ }
+
+ //gripper home
+ if((c == 'G') || (c == 'g')){
+ cal_gripper();
+ }
+
+ //Up: Bring up from typical starting position
+ if((c == 'U') || (c == 'u')){
+ pc.printf("Bring up from typical unpowered position\r\n");
+
+ axis1.zero();
+ axis2.zero();
+ axis3.zero();
+ axis4.zero();
+ axis5.zero();
+ axis6.zero();
+
+ all_on();
+ axis2.set_point += 8000;
+ wait(3.5);
+ axis2.zero();
+ axis3.set_point -= 4500;
+ wait(2.5);
+ axis3.zero();
+
+ home_pitch_wrist();
+ home_rotate_wrist();
+ cal_gripper();
+ }
+
+ //Exercise: Randomly exercise all axes
+ if((c == 'X' || c == 'x')) //Exercise all axes
{
- pc.printf("\r\nPress q to quit Excercise\r\n");
+ pc.printf("\r\nPress q to quit Exercise\r\n");
pc.printf("Received move test command\r\n");
int qFlag=0;
float lastmovetime = 0.0;
- t.reset();
while(qFlag==0){
- float movetime = rand() % 5;
+ t.reset();
+ float movetime = rand() % 7;
movetime += 1.0;
lastmovetime = t.read() + movetime;
- axis1.moveTrapezoid((rand() % 7000) - 3500, movetime);
+ axis1.moveTrapezoid((rand() % 2000) - 1000, movetime);
+ wait(.05);
axis2.moveTrapezoid((rand() % 5000) - 2500, movetime);
- axis3.moveTrapezoid((rand() % 3000) - 1500, movetime);
+ wait(.05);
+ axis3.moveTrapezoid((rand() % 5000) - 2500, movetime);
+ wait(.05);
axis4.moveTrapezoid((rand() % 3000) - 1500, movetime);
+ wait(.05);
axis5.moveTrapezoid((rand() % 3000) - 1500, movetime);
- axis6.moveTrapezoid((rand() % 3000) - 1500, movetime);
+ wait(.05);
+ axis6.moveTrapezoid((rand() % 3000), movetime);
+ wait(.05);
while(t.read() <= lastmovetime + 1.0){
//pc.printf("T=%.2f ax1SP=%.3f ax1pos=%.3f ax2SP=%.3f ax2pos=%.3f \r\n", t.read(), axis1.set_point, axis1.pos, axis2.set_point, axis2.pos);
@@ -232,13 +710,12 @@
qFlag = 1; //set the flag to terminate the excercise
break;
}
- }
+ }
}
- if(t.read() < 0.0){ //if time goes negative, reset the timer
- t.reset();
- }
}
}
+
+ //Trapazoid: move trapazoidal profile on Axis
if(c == 'T' || c == 't'){ //move Trapazoid command
float position = 0.0;
float time = 0.0;
@@ -262,7 +739,7 @@
case '2':
pc.printf("Moving Robotic Axis 2\r\n");
- axis2.moveTrapezoid(position, time);
+ axis2.moveTrapezoid(position, time);
break;
case '3':
@@ -285,18 +762,15 @@
axis6.moveTrapezoid(position, time);
break;
}
- }
+ }
+
+ //Home: home command
if(c == 'H' || c == 'h'){
pc.printf("Enter axis to home\r\n");
pc.scanf("%c",&c);
switch(c){
case '1':
pc.printf("Homing Robotic Axis 1\r\n");
-/* axis2.ls7366->LS7366_reset_counter();
- axis2.ls7366->LS7366_quad_mode_x4();
- axis2.ls7366->LS7366_write_DTR(0);
- axis2.enc = axis1.ls7366->LS7366_read_counter();
-*/
axis1.center();
break;
case '2':
@@ -324,80 +798,110 @@
axis6.center();
break;
}
- }
+ }
+
+ //Set Point: Manually move to specific encoder position set point
if(c == 'S' || c == 's'){
- pc.printf("Enter axis to give set point\r\n");
+ pc.printf("Enter axis to give set point:");
pc.scanf("%c",&c);
+ pc.printf("Axis %c entered.\r\n", c);
pc.printf("Enter value for set point axis %c\r\n", c);
+ float temp_setpoint;
+ pc.scanf("%f",&temp_setpoint);
+ pc.printf("Axis%c set point %.1f\r\n", c, temp_setpoint);
+
switch(c){
case '1':
- pc.scanf("%f",&axis1.set_point);
- pc.printf("%f\r\n",axis1.set_point);
+ axis1.set_point = temp_setpoint;
+
t.reset();
- while((axis1.enc > (axis1.set_point + SP_TOL)) || (axis1.enc < (axis1.set_point - SP_TOL))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
+ while((axis1.pos > (axis1.set_point + SP_TOL)) || (axis1.pos < (axis1.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
break;
case '2':
- pc.scanf("%f",&axis2.set_point);
- pc.printf("%f\r\n",axis2.set_point);
+// float delta3 = axis2.pos - temp_setpoint;
+// axis3.set_point += delta3;
+
+ axis2.set_point = temp_setpoint;
t.reset();
- while((axis2.enc > (axis2.set_point + SP_TOL)) || (axis2.enc < (axis2.set_point - SP_TOL))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis2.set_point, axis2.co, axis2.pos, axis2.vel, axis2.acc);
+ while((axis2.pos > (axis2.set_point + SP_TOL)) || (axis2.pos < (axis2.set_point - SP_TOL))){
+ pc.printf("T=%.2f %.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis2.set_point, axis2.pos, axis2.vel, axis2.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis2.set_point, axis2.co, axis2.pos, axis2.vel, axis2.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis2.set_point, axis2.co, axis2.pos, axis2.vel, axis2.acc);
break;
case '3':
- pc.scanf("%f",&axis3.set_point);
- pc.printf("%f\r\n",axis3.set_point);
+ axis3.set_point = temp_setpoint;
t.reset();
- while((axis3.enc > (axis3.set_point + SP_TOL)) || (axis3.enc < (axis3.set_point - SP_TOL))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis3.set_point, axis3.co, axis3.pos, axis3.vel, axis3.acc);
+ while((axis3.pos > (axis3.set_point + SP_TOL)) || (axis3.pos < (axis3.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis3.set_point, axis3.co, axis3.pos, axis3.vel, axis3.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis3.set_point, axis3.co, axis3.pos, axis3.vel, axis3.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis3.set_point, axis3.co, axis3.pos, axis3.vel, axis3.acc);
break;
case '4':
- pc.scanf("%f",&axis4.set_point);
- pc.printf("%f\r\n",axis4.set_point);
+ axis4.set_point = temp_setpoint;
t.reset();
- while((axis4.enc > (axis4.set_point + SP_TOL)) || (axis4.enc < (axis4.set_point - SP_TOL))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis4.set_point, axis4.co, axis4.pos, axis4.vel, axis4.acc);
+ while((axis4.pos > (axis4.set_point + SP_TOL)) || (axis4.pos < (axis4.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis4.set_point, axis4.co, axis4.pos, axis4.vel, axis4.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis4.set_point, axis4.co, axis4.pos, axis4.vel, axis4.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis4.set_point, axis4.co, axis4.pos, axis4.vel, axis4.acc);
break;
case '5':
- pc.scanf("%f",&axis5.set_point);
- pc.printf("%f\r\n",axis5.set_point);
+ axis5.set_point = temp_setpoint;
t.reset();
- while((axis5.enc > (axis5.set_point + SP_TOL)) || (axis5.enc < (axis5.set_point - 50))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis5.set_point, axis5.co, axis5.pos, axis5.vel, axis5.acc);
+ while((axis5.pos > (axis5.set_point + SP_TOL)) || (axis5.pos < (axis5.set_point - 50))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis5.set_point, axis5.co, axis5.pos, axis5.vel, axis5.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis5.set_point, axis5.co, axis5.pos, axis5.vel, axis5.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis5.set_point, axis5.co, axis5.pos, axis5.vel, axis5.acc);
break;
case '6':
- pc.scanf("%f",&axis6.set_point);
- pc.printf("%f\r\n",axis6.set_point);
+ axis6.set_point = temp_setpoint;
t.reset();
- while((axis6.enc > (axis6.set_point + SP_TOL)) || (axis6.enc < (axis6.set_point - SP_TOL))){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis6.set_point, axis6.co, axis6.pos, axis6.vel, axis6.acc);
+ while((axis6.pos > (axis6.set_point + SP_TOL)) || (axis6.pos < (axis6.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis6.set_point, axis6.co, axis6.pos, axis6.vel, axis6.acc);
wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
}
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n\n", t.read(), axis6.set_point, axis6.co, axis6.pos, axis6.vel, axis6.acc);
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis6.set_point, axis6.co, axis6.pos, axis6.vel, axis6.acc);
break;
}
}
+
if(c == 'P' || c == 'p'){
float temp_Pk;
pc.printf("Enter axis to set Pk\r\n");
@@ -503,68 +1007,49 @@
}
pc.printf("Axis%c Ik set to %f\r\n", c, temp_Dk);
}
+
+ //Zero: Zero specific axis
if(c == 'Z' || c == 'z'){
- pc.printf("Enter axis to zero\r\n");
+ pc.printf("Enter axis to Zero (1-6, or 'a' for all)\r\n");
pc.scanf("%c",&c);
switch(c){
case '1':
- axis1.ls7366->LS7366_reset_counter();
- axis1.ls7366->LS7366_quad_mode_x4();
- axis1.ls7366->LS7366_write_DTR(0);
-
- axis1.set_point = 0.0;
- axis1.pid->setSetPoint(0);
+ axis1.zero();
break;
case '2':
- axis2.ls7366->LS7366_reset_counter();
- axis2.ls7366->LS7366_quad_mode_x4();
- axis2.ls7366->LS7366_write_DTR(0);
-
- axis2.set_point = 0.0;
- axis2.pid->setSetPoint(0);
+ axis2.zero();
break;
case '3':
- axis3.ls7366->LS7366_reset_counter();
- axis3.ls7366->LS7366_quad_mode_x4();
- axis3.ls7366->LS7366_write_DTR(0);
-
- axis3.set_point = 0.0;
- axis3.pid->setSetPoint(0);
+ axis3.zero();
break;
case '4':
- axis4.ls7366->LS7366_reset_counter();
- axis4.ls7366->LS7366_quad_mode_x4();
- axis4.ls7366->LS7366_write_DTR(0);
-
- axis4.set_point = 0.0;
- axis4.pid->setSetPoint(0);
+ axis4.zero();
break;
case '5':
- axis5.ls7366->LS7366_reset_counter();
- axis5.ls7366->LS7366_quad_mode_x4();
- axis5.ls7366->LS7366_write_DTR(0);
-
- axis5.set_point = 0.0;
- axis5.pid->setSetPoint(0);
+ axis5.zero();
break;
case '6':
- axis6.ls7366->LS7366_reset_counter();
- axis6.ls7366->LS7366_quad_mode_x4();
- axis6.ls7366->LS7366_write_DTR(0);
-
- axis6.set_point = 0.0;
- axis6.pid->setSetPoint(0);
- break;
+ axis6.zero();
+ break;
+
+ case 'a': //for all
+ axis1.zero();
+ axis2.zero();
+ axis3.zero();
+ axis4.zero();
+ axis5.zero();
+ axis6.zero();
+ break;
}
}
if(c == 'O' || c == 'o'){
- pc.printf("Enter axis to turn On\r\n");
+ pc.printf("Enter axis to turn On (1-6, or 'a' for all)\r\n");
pc.scanf("%c",&c);
switch(c){
@@ -590,12 +1075,21 @@
case '6':
axis6.axisOn();
- break;
+ break;
+
+ case 'a':
+ axis1.axisOn();
+ axis2.axisOn();
+ axis3.axisOn();
+ axis4.axisOn();
+ axis5.axisOn();
+ axis6.axisOn();
+ break;
}
- pc.printf("Axis%d On\r\n", c);
+ pc.printf("Axis%c On\r\n", c);
}
if(c == 'F' || c == 'f'){
- pc.printf("Enter axis to turn Off\r\n");
+ pc.printf("Enter axis to turn Off (1-6, or 'a' for all)\r\n");
pc.scanf("%c",&c);
switch(c){
@@ -621,58 +1115,77 @@
case '6':
axis6.axisOff();
- break;
+ break;
+
+ case 'a':
+ axis1.axisOff();
+ axis2.axisOff();
+ axis3.axisOff();
+ axis4.axisOff();
+ axis5.axisOff();
+ axis6.axisOff();
+ break;
}
- pc.printf("Axis%d Off\r\n", c);
- }
- if(c == 'B' || c == 'b'){
- pc.printf("Enter pitch counts\r\n");
-
- float counts;
-
- pc.scanf("%f",&counts);
- axis4.set_point = counts;
- axis5.set_point = -counts;
+ pc.printf("Axis%c Off\r\n", c);
+ }
+
+ // Toggle Stream flag (for display purposes
+ if(c == 'J' || c == 'j'){
+ pc.printf("Enter 1 to turn stream On, 0 to turn Off:\r\n");
+ pc.scanf("%c",&c);
- pc.printf("%f\r\n",counts);
- t.reset();
- while(axis4.enc > (axis4.set_point + SP_TOL) ||
- axis4.enc < (axis4.set_point - SP_TOL) &&
- axis5.enc > (axis5.set_point + SP_TOL) ||
- axis5.enc < (axis5.set_point - SP_TOL)){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis4.set_point, axis4.enc, axis5.set_point, axis5.enc);
- wait(.009);
- }
+ if(c == '1'){
+ streamFlag = 1;
+ pc.printf("Stream On\r\n");
+ }
+ if(c == '0'){
+ streamFlag = 0;
+ pc.printf("Stream Off\r\n");
+ }
+ c = '\0';
}
- if(c == 'N' || c == 'n'){
- pc.printf("Enter rotate counts\r\n");
-
- float counts;
-
- pc.scanf("%f",&counts);
- axis4.set_point = counts;
- axis5.set_point = counts;
-
- pc.printf("%f\r\n",counts);
- t.reset();
- while(axis4.enc > (axis4.set_point + SP_TOL) ||
- axis4.enc < (axis4.set_point - SP_TOL) &&
- axis5.enc > (axis5.set_point + SP_TOL) ||
- axis5.enc < (axis5.set_point - SP_TOL)){
- pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f \r\n", t.read(), axis4.set_point, axis4.enc, axis5.set_point, axis5.enc);
- wait(.009);
- }
- }
+
+ if(c == 'M' || c == 'm'){ //move axis (with joints combined)
+ pc.printf("Enter axis to move\r\n");
+ pc.scanf("%c",&c);
+ pc.printf("Enter value for axis %c\r\n", c);
+ float newPosition;
+ switch(c){
+ case '2':
+ pc.scanf("%f",&newPosition);
+ axis2.set_point += newPosition;
+ axis3.set_point += newPosition;
+ axis4.set_point += (65.5/127.0 * newPosition);
+ axis5.set_point -= (65.5/127.0 * newPosition);
+
+
+ t.reset();
+ while((axis1.pos > (axis1.set_point + SP_TOL)) || (axis1.pos < (axis1.set_point - SP_TOL))){
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
+ wait(.009);
+ if(t.read() > 10.0){
+ pc.printf("Set point timeout!\r\n");
+ break;
+ }
+ }
+ pc.printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f\r\n\n", t.read(), axis1.set_point, axis1.co, axis1.pos, axis1.vel, axis1.acc);
+
+ break;
+ }
+ }
}//command was received
if((axis1.moveState==0) && (axis2.moveState==0) && (axis3.moveState==0) && (axis4.moveState==0) && (axis5.moveState==0) && (axis6.moveState==0)){
- pc.printf("%.2f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f\r\n", t.read(), axis1.set_point, axis1.pos, axis2.set_point, axis2.pos,
- axis3.set_point, axis3.pos, axis4.set_point, axis4.pos,axis5.set_point, axis5.pos, axis6.set_point, axis6.pos);
+ pc.printf("%.2f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f,%.1f \r", (float)t.read(), (float)axis1.set_point, (float)axis1.pos, (float)axis2.set_point, (float)axis2.pos,
+ (float)axis3.set_point, (float)axis3.pos, (float)axis4.set_point, (float)axis4.pos,(float)axis5.set_point, (float)axis5.pos, (float)axis6.set_point, (float)axis6.pos);
+ if(streamFlag)
+ pc.printf("\n");
led2 = 0;
}
else
led2 = 1;
-
+
+// pc.printf("Axis2: pos=%.1f co=%.1f setPoint=%.1f vel=%.1f\r\n", axis2.pos, axis2.co, axis2.set_point, axis2.vel);
wait(.02);
}//while(1)
}//main