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InversKinematic.cpp
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#include "InversKinematic.h"
int updatetimer;
Timer t;
//Ticker timer;
//Serial PC(USBTX, USBRX);
/*-------------[Constant Variables]-----------*/
int CoxaPin[6] = {RFCoxaPin,RMCoxaPin,RRCoxaPin,LFCoxaPin,LMCoxaPin,LRCoxaPin};
int FemurPin[6] = {RFFemurPin,RMFemurPin,RRFemurPin,LFFemurPin,LMFemurPin,LRFemurPin};
int TibiaPin[6] = {RFTibiaPin,RMTibiaPin,RRTibiaPin,LFTibiaPin,LMTibiaPin,LRTibiaPin};
float OffsetX[6] = {RFOffsetX,RMOffsetX,RROffsetX,LFOffsetX,LMOffsetX,LROffsetX};
float OffsetZ[6] = {RFOffsetZ,RMOffsetZ,RROffsetZ,LFOffsetZ,LMOffsetZ,LROffsetZ};
int CoxaAngleOffset[6] = {RFCoxaAngleOffset,RMCoxaAngleOffset,RRCoxaAngleOffset,LFCoxaAngleOffset,LMCoxaAngleOffset,LRCoxaAngleOffset};
int CoxaAngleMin[6] = {RFCoxaAngleMin,RMCoxaAngleMin,RRCoxaAngleMin,LFCoxaAngleMin,LMCoxaAngleMin,LRCoxaAngleMin};
int CoxaAngleMax[6] = {RFCoxaAngleMax,RMCoxaAngleMax,RRCoxaAngleMax,LFCoxaAngleMax,LMCoxaAngleMax,LRCoxaAngleMax};
int FemurAngleMin[6] = {RFFemurAngleMin,RMFemurAngleMin,RRFemurAngleMin,LFFemurAngleMin,LMFemurAngleMin,LRFemurAngleMin};
int FemurAngleMax[6] = {RFFemurAngleMax,RMFemurAngleMax,RRFemurAngleMax,LFFemurAngleMax,LMFemurAngleMax,LRFemurAngleMax};
int TibiaAngleMin[6] = {RFTibiaAngleMin,RMTibiaAngleMin,RRTibiaAngleMin,LFTibiaAngleMin,LMTibiaAngleMin,LRTibiaAngleMin};
int TibiaAngleMax[6] = {RFTibiaAngleMax,RMTibiaAngleMax,RRTibiaAngleMax,LFTibiaAngleMax,LMTibiaAngleMax,LRTibiaAngleMax};
/*--------[POSISI SUDUT SEBENARNYA]-----------------*/
int CoxaAngle[6]; //sudut coxa
int FemurAngle[6]; //sudut femur
int TibiaAngle[6]; //sudut tibia
int LegPosX[6]; //posisi end of effector terhadapa sumbu-X
int LegPosY[6]; //posisi end of effector terhadapa sumbu-Y
int LegPosZ[6]; //posisi end of effector terhadapa sumbu-Z
float BodyHeight = 45; //tinggi badan relatif terhadap tanah
int LegRadius = 90; //jangkauan kaki diukur dari posisi tengah badan
int NormCoxaAngle = 50; //sudut coxa awal
/*------------------[INVERSE KINEMATICS]----------------------*/
float BodyPosX=0;
float BodyPosY=0;
float BodyPosZ=0;
float BodyRotX=0; //Pitch
float BodyRotY=0; //Yaw
float BodyRotZ=0; //Roll
float InBodyPosX;
float InBodyPosY;
float InBodyPosZ;
float InBodyRotX = 0; //Pitch
float InBodyRotY = 0; //Yaw
float InBodyRotZ = 0; //Roll
float PrevBodyPosX=0;
float PrevBodyPosY=0;
float PrevBodyPosZ=0;
float PrevBodyRotX=0; //Pitch
float PrevBodyRotY=0; //Yaw
float PrevBodyRotZ=0; //Roll
unsigned char instatic_movement=0;
float Rot_X = 0;
float Rot_Y = 0;
float Rot_Z = 0;
float Shift_X = 0;
float Shift_Z = 0;
float BodyIKPosX;
float BodyIKPosY;
float BodyIKPosZ;
float BodyShift;
float RollPitchYawAngle;
unsigned char done=0;
/*-------------------------[GAIT]------------------------------*/
unsigned char GaitType;
int LegLiftHeight = 20;
int TravelLengthX;
int TravelLengthZ;
int TravelRotation;
int TravelLength;
unsigned char NrLiftedPos;
unsigned char TLDivFactor;
unsigned char StepsInGait;
bool HalfLiftHeigth;
unsigned char GaitStep;
unsigned char GaitLegNr[6];
bool GaitInMotion;
bool LastLeg;
int GaitPosX[6];
int GaitPosY[6];
int GaitPosZ[6];
int GaitRotY[6];
char GaitSequencerOn = FALSE;
char Ready = FALSE;
float InTravelLengthZ =0;
float InTravelLengthX =0;
float InTravelRotation=0;
/*SSC*/
char AllServosFree = TRUE;
char DirectSSCControl = FALSE;
/*-----------------------TIMING-------------------------------*/
unsigned int GaitTravelTime = MinGaitTravelTime;
unsigned int FrameTime = 10;
unsigned int SpeedServo ;
unsigned char state = 0;
unsigned char state_static = 1;
unsigned char first = 1;
float iter = 0;
float iter2 = 0;
unsigned char stop=0;
unsigned char stop2=0;
unsigned char seq=0;
/*---------------------[SERIAL COMMAND]-----------------------*/
unsigned char CurrSerialCommand = 0;
unsigned char PrevSerialCommand1 = 0;
unsigned char PrevSerialCommand2 = 0;
/*----------------[DIFFERENTIAL STEERING]----------------------*/
int DiffSteerTravelLength;
int DiffSteerTravelRotation;
int LeftLegsToRightLegsDistance;
int TurnPercentage;
int elapsedtime;
void SetGlobalSpeed(int perseninput);
void attime();
/*-----------------[GAIT CALCULATION]--------------------------*/
void _interrupt(){
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n\r", FemurAngle[0], FemurAngle[1], FemurAngle[2], TibiaAngle[0], TibiaAngle[1], TibiaAngle[2], LegPosX[3], LegPosX[5]);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Warna.Depan, Warna.Belakang, Warna.ratio[0], GarisDepan, GarisBelakang, GarisKetemu);
//PC.printf("\t%d\t%d\t%d\t%d\n\r", ArahSekarang, Kompas.ReadBearing(),Kompas.IsArahSama(ArahSekarang,900));
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Warna.SetPoint[0], Warna.SetPoint[1], Warna.Depan, Warna.Belakang, Warna.TransisiDepan, Warna.TransisiBelakang, GarisKetemu, Warna.TransisiKetemu);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Warna.Depan, Warna.Belakang, Warna.Merah[0], Warna.Merah[1], Warna.ratio[0], Warna.ratio[1], Warna.TransisiKetemu, GarisKetemu);
//PC.printf("\t%d\t%d\t%d\n\r", Warna.SetPoint[0], Warna.State[0], Warna.Depan);
//PC.printf("\t%d\t%d\n\r", Warna.Depan, Warna.Belakang);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Warna.Merah[0],Warna.Biru[0], Warna.ratio[0], Warna.SetPoint[0],Warna.WarnaSekarang[0],Warna.TransisiDepan,Warna.state_set[0],Warna.SetDulu[0]);
//PC.printf("%d\n\r", Kompas.ReadBearing());
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d||\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d||\t%d\t%d\t%d\n\r", TPA.Data[0],TPA.Data[1],TPA.Data[2],TPA.Data[3],TPA.Data[4],TPA.Data[5],TPA.Data[6],TPA.Data[7], TPAx.Data[0],TPAx.Data[1],TPAx.Data[2],TPAx.Data[3],TPAx.Data[4],TPAx.Data[5],TPAx.Data[6],TPAx.Data[7], UVTron.Counter, LilinKetemuStatis, Pinger.Depan);
//PC.printf("%d %d %d %d %d %d %d %d\n\r", TPA.Data[0], TPA.Data[1], TPA.Data[2], TPA.Data[3], TPA.Data[4], TPA.Data[5], TPA.Data[6], TPA.Data[7]);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Pinger.Merah[0],Pinger.Hijau[0], Pinger.Biru[0], Pinger.Merah[1],Pinger.Hijau[1], Pinger.Biru[1]);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\n\r", Pinger.Merah[0],Pinger.Hijau[0], Pinger.Biru[0], Pinger.Merah[1],Pinger.Hijau[1], Pinger.Biru[1]);
//PC.printf("%3d-%3d-%3d-%3d-%3d-%3d-%3d-%3d || %3d-%3d-%3d-%3d-%3d\n\r", Pinger.SrKiri, Pinger.Depan, Pinger.SrKanan,Pinger.Kanan, Pinger.BlKanan,Pinger.Belakang,Pinger.BlKiri,Pinger.Kiri, bacaADC2.read_u16(), ADCInfraredBawah, DiffSteerTravelRotation, TravelLengthZ, TravelRotation);
//PC.printf("%3d-%3d-%3d\n\r", Pinger.JarakPing[5], Pinnger.JarakPing[6], Pinger.JarakPing[7]);
//PC.printf("\t%d\t%d\t%d\t%d\n\r", bacaADC2.read_u16(), Pinger.SrKanan, Pinger.Kanan);
//PC.printf("%3d-%3d-%3d-%3d-%3d-%3d-%3d-%3d \n\r", Pinger.SrKiri, Pinger.Depan, Pinger.SrKanan,Pinger.Kanan, Pinger.BlKanan,Pinger.Belakang,Pinger.BlKiri,Pinger.Kiri);
//PC.printf("%3d\n\r", ADCInfraredBawah);
//PC.printf("\t%3d\t%d\n\r", Warna.SetPointPutih[0], Warna.SetPoint[0]);
// PC.printf("\t%d\t%d\t%d\t%d||\t%d\t%d\t%d\t%d||\t%d\t%d\n\r", Warna.Merah[0], Warna.Biru[0], Warna.ratio[0], Warna.Depan, Warna.Merah[1], Warna.Biru[1], Warna.ratio[1], Warna.Belakang, Pinger.Depan, ADCInfraredBawah);
//PC.printf("\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d||\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d||\t%d||\t%d||\t%d\n\r", TPA.Data[0], TPA.Data[1], TPA.Data[2], TPA.Data[3], TPA.Data[4], TPA.Data[5], TPA.Data[6], TPA.Data[7], TPAx.Data[0], TPAx.Data[1], TPAx.Data[2], TPAx.Data[3], TPAx.Data[4], TPAx.Data[5], TPAx.Data[6], TPAx.Data[7], UVTron.Counter, TPA.Ambient(), TPAx.Ambient());
}
void GaitCalculation (unsigned char GaitCurrentLegNr)
{
GaitInMotion = ((TravelLengthX != 0) || (TravelLengthZ != 0) || (TravelRotation != 0));
if ( ((GaitInMotion==TRUE) && ((NrLiftedPos==1)||(NrLiftedPos==3)) && (GaitStep==GaitLegNr[GaitCurrentLegNr])) || ((GaitInMotion==FALSE) && (GaitStep==GaitLegNr[GaitCurrentLegNr]) && ((abs(GaitPosX[GaitCurrentLegNr])>2)||(abs(GaitPosZ[GaitCurrentLegNr])>2)||(abs(GaitRotY[GaitCurrentLegNr])>2))) ) //Up
{
GaitPosX[GaitCurrentLegNr] = 0;
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight;
GaitPosZ[GaitCurrentLegNr] = 0;
GaitRotY[GaitCurrentLegNr] = 0;
}
else
{
if ( (((NrLiftedPos==2) && (GaitStep==GaitLegNr[GaitCurrentLegNr])) || ((NrLiftedPos==3) && ((GaitStep==(GaitLegNr[GaitCurrentLegNr]-1)) || (GaitStep==(GaitLegNr[GaitCurrentLegNr]+(StepsInGait-1)))))) && (GaitInMotion==TRUE) )
{
GaitPosX[GaitCurrentLegNr] = -TravelLengthX/2;
if (HalfLiftHeigth==FALSE)
{
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight;
}
else
{
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight/2;
}
GaitPosZ[GaitCurrentLegNr] = -TravelLengthZ/2;
GaitRotY[GaitCurrentLegNr] = -TravelRotation/2;
}
else
{
if ( (NrLiftedPos>=2) && ((GaitStep==(GaitLegNr[GaitCurrentLegNr]+1)) || (GaitStep==(GaitLegNr[GaitCurrentLegNr]-(StepsInGait-1)))) && (GaitInMotion==TRUE) )
{
GaitPosX[GaitCurrentLegNr] = TravelLengthX/2;
if (HalfLiftHeigth==FALSE)
{
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight;
}
else
{
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight/2;
}
GaitPosZ[GaitCurrentLegNr] = TravelLengthZ/2;
GaitRotY[GaitCurrentLegNr] = TravelRotation/2;
}
else
{
if ( ((GaitStep==(GaitLegNr[GaitCurrentLegNr]+NrLiftedPos)) || (GaitStep==(GaitLegNr[GaitCurrentLegNr]-(StepsInGait-NrLiftedPos)))) && (GaitPosY[GaitCurrentLegNr]<0) )
{
GaitPosX[GaitCurrentLegNr] = TravelLengthX/2;
GaitPosZ[GaitCurrentLegNr] = TravelLengthZ/2;
GaitRotY[GaitCurrentLegNr] = TravelRotation/2;
GaitPosY[GaitCurrentLegNr] = 0;
}
else
{
GaitPosX[GaitCurrentLegNr] = GaitPosX[GaitCurrentLegNr] - (TravelLengthX/TLDivFactor);
GaitPosY[GaitCurrentLegNr] = 0;
GaitPosZ[GaitCurrentLegNr] = GaitPosZ[GaitCurrentLegNr] - (TravelLengthZ/TLDivFactor);
GaitRotY[GaitCurrentLegNr] = GaitRotY[GaitCurrentLegNr] - (TravelRotation/TLDivFactor);
}
}
}
}
if (LastLeg==1)
{
GaitStep = GaitStep+1;
if (GaitStep>StepsInGait)
{
GaitStep = 1;
}
}
}
void GaitGeneratorCurve(void)
{
unsigned char i;
//float InTravelLengthZ,InTravelLengthX,InTravelRotation;
if(seq==1)
{
switch(state)
{
case 0:
if(first==1 && stop2==0)//semua kaki ke posisi 1
{
for(i=0;i<6;i++)
{
GaitPosY[i]=0;
GaitPosZ[i]=iter*(TravelLengthZ/2);//jumlah iterasi 25 kali
GaitPosX[i]=iter*(TravelLengthX/2);
GaitRotY[i]=iter*(TravelRotation/2);
}
}else if(first==0 && stop2==0){
for(i=0;i<6;i=i+2)
{
//tripod 1 ke p1
GaitPosY[i]=0;
GaitPosZ[i]=iter*(TravelLengthZ/2);
GaitPosX[i]=iter*(TravelLengthX/2);
GaitRotY[i]=iter*(TravelRotation/2);
//tripod 2 ke p4
GaitPosY[i+1]= -((3*((iter*0.5)+0.5)*pow(1-((iter*0.5)+0.5),2)*LegLiftHeight)+(3*pow(((iter*0.5)+0.5),2)*(1-((iter*0.5)+0.5))*LegLiftHeight));//iter = 0.5
GaitPosZ[i+1]=pow((1-(((iter*0.5)+0.5))),3)*(TravelLengthZ/2)+3*((iter*0.5)+0.5)*pow((1-((iter*0.5)+0.5)),2)*(TravelLengthZ/2)+3*pow(((iter*0.5)+0.5),2)*(1-((iter*0.5)+0.5))*(-TravelLengthZ/2)+pow(((iter*0.5)+0.5),3)*(-TravelLengthZ/2);
GaitPosX[i+1]=pow((1-(((iter*0.5)+0.5))),3)*(TravelLengthX/2)+3*((iter*0.5)+0.5)*pow((1-((iter*0.5)+0.5)),2)*(TravelLengthX/2)+3*pow(((iter*0.5)+0.5),2)*(1-((iter*0.5)+0.5))*(-TravelLengthX/2)+pow(((iter*0.5)+0.5),3)*(-TravelLengthX/2);
GaitRotY[i+1]=pow((1-(((iter*0.5)+0.5))),3)*(TravelRotation/2)+3*((iter*0.5)+0.5)*pow((1-((iter*0.5)+0.5)),2)*(TravelRotation/2)+3*pow(((iter*0.5)+0.5),2)*(1-((iter*0.5)+0.5))*(-TravelRotation/2)+pow(((iter*0.5)+0.5),3)*(-TravelRotation/2);
}
}
else if(stop2==1)//stop2==1
{
for (i=0;i<6; i=i+2)
{
//tripod 2 langsung ke posisi po dari p2'
//GaitPosY[i+1]=-(1-iter)*LegLiftHeight;
//iterasi dimulai dari 0.5 sampai 1 tetapi nyatanya di case ini iterasi dimulai dari 0
GaitPosY[i+1]=-(3*(0.5+(iter/2))*pow(1-(0.5+(iter/2)),2)*LegLiftHeight+3*pow((0.5+(iter/2)),2)*(1-(0.5+(iter/2)))*LegLiftHeight);//iter = 0.5
GaitPosZ[i+1]=pow((1-(0.5+(iter/2))),3)*(TravelLengthZ/2)+3*(0.5+(iter/2))*pow((1-(0.5+(iter/2))),2)*(TravelLengthZ/2);
GaitPosX[i+1]=pow((1-(0.5+(iter/2))),3)*(TravelLengthX/2)+3*(0.5+(iter/2))*pow((1-(0.5+(iter/2))),2)*(TravelLengthX/2);
GaitRotY[i+1]=pow((1-(0.5+(iter/2))),3)*(TravelRotation/2)+3*(0.5+(iter/2))*pow((1-(0.5+(iter/2))),2)*(TravelRotation/2);
}
if(iter>=1-0.04)
{
seq=0;
state=0;
iter=0;
stop2=0;
first=1;
//LegLiftHeight=0;
TravelLengthZ = 0;
TravelLengthX = 0;
TravelRotation= 0;
}
}
iter = iter+0.04;
if(iter >= 1){
state=1;iter=0;
}else{
state=0;}
break;
case 1:
if(first==1)//
{
for(i=0;i<6;i=i+2)
{
//Tripod 1 leg 0,2,4 ke p26 jumlah iterasi = 25 kali
GaitPosY[i]=-(3*iter*pow((1-iter),2)*LegLiftHeight+3*pow(iter,2)*(1-iter)*LegLiftHeight);
GaitPosZ[i]=pow((1-iter),3)*(TravelLengthZ/2)+3*iter*pow((1-iter),2)*(TravelLengthZ/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthZ/2)+pow(iter,3)*(-TravelLengthZ/2);
GaitPosX[i]=pow((1-iter),3)*(TravelLengthX/2)+3*iter*pow((1-iter),2)*(TravelLengthX/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthX/2)+pow(iter,3)*(-TravelLengthX/2);
GaitRotY[i]=pow((1-iter),3)*(TravelRotation/2)+3*iter*pow((1-iter),2)*(TravelRotation/2)+3*pow(iter,2)*(1-iter)*(-TravelRotation/2)+pow(iter,3)*(-TravelRotation/2);
//tripod 2 leg 1,3,5 tetap di p1
}
}else{
for(i=0;i<6;i=i+2)
{
GaitPosY[i+1]=-(3*(iter/2)*pow(1-(iter/2),2)*LegLiftHeight+3*pow((iter/2),2)*(1-(iter/2))*LegLiftHeight);//iter = 0.5
//tripod 1 ke p2
GaitPosY[i]=-(3*iter*pow((1-iter),2)*LegLiftHeight+3*pow(iter,2)*(1-iter)*LegLiftHeight);
GaitPosZ[i]=pow((1-iter),3)*(TravelLengthZ/2)+3*iter*pow((1-iter),2)*(TravelLengthZ/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthZ/2)+pow(iter,3)*(-TravelLengthZ/2);
GaitPosX[i]=pow((1-iter),3)*(TravelLengthX/2)+3*iter*pow((1-iter),2)*(TravelLengthX/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthX/2)+pow(iter,3)*(-TravelLengthX/2);
GaitRotY[i]=pow((1-iter),3)*(TravelRotation/2)+3*iter*pow((1-iter),2)*(TravelRotation/2)+3*pow(iter,2)*(1-iter)*(-TravelRotation/2)+pow(iter,3)*(-TravelRotation/2);
//tripod 2 ke p0
GaitPosY[i+1]=0;
GaitPosZ[i+1]=(1-(iter*2))*(-TravelLengthZ/2);
GaitPosX[i+1]=(1-(iter*2))*(-TravelLengthX/2);
GaitRotY[i+1]=(1-(iter*2))*(-TravelRotation/2);
}
}
iter = iter+0.02;
if(iter >= 0.5){
state=2;
}else{
state=1;}
break;
case 2:
if(first==1){
for(i=0;i<6;i=i+2)
{
//tripod 1 ke p4 jumlah iterasi 25 kali
GaitPosY[i]=-(3*iter*pow((1-iter),2)*LegLiftHeight+3*pow(iter,2)*(1-iter)*LegLiftHeight);
GaitPosZ[i]=pow((1-iter),3)*(TravelLengthZ/2)+3*iter*pow((1-iter),2)*(TravelLengthZ/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthZ/2)+pow(iter,3)*(-TravelLengthZ/2);
GaitPosX[i]=pow((1-iter),3)*(TravelLengthX/2)+3*iter*pow((1-iter),2)*(TravelLengthX/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthX/2)+pow(iter,3)*(-TravelLengthX/2);
GaitRotY[i]=pow((1-iter),3)*(TravelRotation/2)+3*iter*pow((1-iter),2)*(TravelRotation/2)+3*pow(iter,2)*(1-iter)*(-TravelRotation/2)+pow(iter,3)*(-TravelRotation/2);
//tripod 2 tetap di p1
}
}else{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke p4
GaitPosY[i]=-(3*iter*pow((1-iter),2)*LegLiftHeight+3*pow(iter,2)*(1-iter)*LegLiftHeight);
GaitPosZ[i]=pow((1-iter),3)*(TravelLengthZ/2)+3*iter*pow((1-iter),2)*(TravelLengthZ/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthZ/2)+pow(iter,3)*(-TravelLengthZ/2);
GaitPosX[i]=pow((1-iter),3)*(TravelLengthX/2)+3*iter*pow((1-iter),2)*(TravelLengthX/2)+3*pow(iter,2)*(1-iter)*(-TravelLengthX/2)+pow(iter,3)*(-TravelLengthX/2);
GaitRotY[i]=pow((1-iter),3)*(TravelRotation/2)+3*iter*pow((1-iter),2)*(TravelRotation/2)+3*pow(iter,2)*(1-iter)*(-TravelRotation/2)+pow(iter,3)*(-TravelRotation/2);
//tripod 2 ke p1
GaitPosY[i+1]=0;
GaitPosZ[i+1]=(iter-0.5)*2*(TravelLengthZ/2);
GaitPosX[i+1]=(iter-0.5)*2*(TravelLengthX/2);
GaitRotY[i+1]=(iter-0.5)*2*(TravelRotation/2);
}
}
iter = iter+0.02;
if(iter >= 1){
state= 3;iter = 0;
}else{
state=2;}
break;
case 3:
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi p0 jumlah iterasi 25 kali
GaitPosY[i]=0;
GaitPosZ[i]=(1-iter)*(-TravelLengthZ/2);
GaitPosX[i]=(1-iter)*(-TravelLengthX/2);
GaitRotY[i]=(1-iter)*(-TravelRotation/2);
if(stop==1){
//tripod 2 ke posisis p2' jika stop bernilai 1
GaitPosY[i+1]=-(3*(iter/2)*pow(1-(iter/2),2)*LegLiftHeight+3*pow((iter/2),2)*(1-(iter/2))*LegLiftHeight);//iter = 0.5
GaitPosZ[i+1]=pow((1-(iter/2)),3)*(TravelLengthZ/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelLengthZ/2);
GaitPosX[i+1]=pow((1-(iter/2)),3)*(TravelLengthX/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelLengthX/2);
GaitRotY[i+1]=pow((1-(iter/2)),3)*(TravelRotation/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelRotation/2);
}
//tripod 2 ke posisi p2
else{
GaitPosY[i+1]=-(3*(iter/2)*pow(1-(iter/2),2)*LegLiftHeight+3*pow((iter/2),2)*(1-(iter/2))*LegLiftHeight);//iter = 0.5
GaitPosZ[i+1]=pow((1-(iter/2)),3)*(TravelLengthZ/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelLengthZ/2)+3*pow(iter*0.5,2)*(1-iter*0.5)*(-TravelLengthZ/2)+pow(iter*0.5,3)*(-TravelLengthZ/2);
GaitPosX[i+1]=pow((1-(iter/2)),3)*(TravelLengthX/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelLengthX/2)+3*pow(iter*0.5,2)*(1-iter*0.5)*(-TravelLengthX/2)+pow(iter*0.5,3)*(-TravelLengthX/2);
GaitRotY[i+1]=pow((1-(iter/2)),3)*(TravelRotation/2)+3*iter*0.5*pow((1-iter*0.5),2)*(TravelRotation/2)+3*pow(iter*0.5,2)*(1-iter*0.5)*(-TravelRotation/2)+pow(iter*0.5,3)*(-TravelRotation/2);
}
//
}
iter = iter+0.04;
if(iter >= 1){
if(stop==1)
{
stop2=1;
}
state=0;iter=0;first=0;
}else{
state=3;}
break;
}
}
}
/*--------------------[GAIT SEQUENCER]-------------------*/
void StartSequencer(void)
{
//intinya menghidupkan interupt
GaitSequencerOn = TRUE;
}
void StopSequencer(void)
{
//intinya mematikan interupt
GaitSequencerOn = FALSE;
}
void GaitSequencer (void)
{
unsigned char LegIndex;
LastLeg = FALSE;
for (LegIndex = 0; LegIndex <6; LegIndex++)
{
if (LegIndex == 5)
{
LastLeg = TRUE;
}
GaitCalculation (LegIndex);
}
if ( (GaitInMotion==FALSE)&&(GaitPosX[RF]==0)&&(GaitPosX[RM]==0)&&(GaitPosX[RR]==0)&&(GaitPosX[LF]==0)&&(GaitPosX[LM]==0)&&(GaitPosX[LR]==0)
&&(GaitPosY[RF]==0)&&(GaitPosY[RM]==0)&&(GaitPosY[RR]==0)&&(GaitPosY[LF]==0)&&(GaitPosY[LM]==0)&&(GaitPosY[LR]==0)
&&(GaitPosZ[RF]==0)&&(GaitPosZ[RM]==0)&&(GaitPosZ[RR]==0)&&(GaitPosZ[LF]==0)&&(GaitPosZ[LM]==0)&&(GaitPosZ[LR]==0)
&&(GaitRotY[RF]==0)&&(GaitRotY[RM]==0)&&(GaitRotY[RR]==0)&&(GaitRotY[LF]==0)&&(GaitRotY[LM]==0)&&(GaitRotY[LR]==0) )
{
StopSequencer();
GaitStep = 1;
}
}
//gait generator
void GaitGenerator1(void)
{
unsigned char i;
unsigned char gait_speed;
gait_speed =10;
switch(state)
{
case 0: //semua ujung kaki ke posisi 1
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
if(first==1)
{
for(i=0;i<6;i++)
{
GaitPosY[i]=0;
GaitPosZ[i]=0;
GaitPosX[i]=0;
GaitRotY[i]=0;
}
}
else
{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 4
GaitPosY[i]=-LegLiftHeight;
GaitPosZ[i]=0;
GaitPosX[i]=0;
GaitRotY[i]=0;
//tripod 2 ke posisi 1
GaitPosY[i+1]=0;
GaitPosZ[i+1]=0;
GaitPosX[i+1]=0;
GaitRotY[i+1]=0;
}
}
state =1;
break;
case 1:
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
if(first==1)
{
for(i=0;i<6;i++)
{
//semua ujung kaki ke posisi 2
GaitPosY[i]=0;
GaitPosZ[i]=TravelLengthZ/2;
GaitPosX[i]=TravelLengthX/2;
GaitRotY[i]=TravelRotation/2;
}
}
else
{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 5
GaitPosY[i]=-LegLiftHeight/2;
GaitPosZ[i]=-TravelLengthZ/2;
GaitPosX[i]=-TravelLengthX/2;
GaitRotY[i]=-TravelRotation/2;
//tripod 2 ke posisi 2
GaitPosY[i+1]=0;
GaitPosZ[i+1]=TravelLengthZ/2;
GaitPosX[i+1]=TravelLengthX/2;
GaitRotY[i+1]=TravelRotation/2;
}
}
state = 2;
break;
case 2:
//jika masih pertama maka tripod 1 tetap di posisi 2 dan
//tripod 2 ke posisi 3
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
if(first==1)
{
for (i = 0; i < 6; i=i+2)
{
//tripod 1 tetap di posisi 2
//tripod 2 ke posisi 3
GaitPosY[i+1]=-LegLiftHeight/2;
GaitPosZ[i+1]=TravelLengthZ/2;
GaitPosX[i+1]=TravelLengthX/2;
GaitRotY[i+1]=TravelRotation/2;
}
}
else
{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 6
GaitPosY[i]=0;
GaitPosZ[i]=-TravelLengthZ/2;
GaitPosX[i]=-TravelLengthX/2;
GaitRotY[i]=-TravelRotation/2;
//tripod 2 ke posisi 3
GaitPosY[i+1]=-LegLiftHeight/2;
GaitPosZ[i+1]=TravelLengthZ/2;
GaitPosX[i+1]=TravelLengthX/2;
GaitRotY[i+1]=TravelRotation/2;
}
}
state = 3;
break;
case 3:
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
if(first==1)
{
for(i=0;i<6;i=i+2)
{
//tripod 1 tetap di posisi 2
//tripod 2 ke posisi 4
GaitPosY[i+1]=-LegLiftHeight;
GaitPosZ[i+1]=0;
GaitPosX[i+1]=0;
GaitRotY[i+1]=0;
}
}
else
{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 1
GaitPosY[i]=0;
GaitPosZ[i]=0;
GaitPosX[i]=0;
GaitRotY[i]=0;
//tripod 2 ke posisi 4
GaitPosY[i+1]=-LegLiftHeight;
GaitPosZ[i+1]=0;
GaitPosX[i+1]=0;
GaitRotY[i+1]=0;
}
}
state=4;
break;
case 4:
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
if(first==1)
{
for(i=0;i<6;i=i+2)
{
//tripod 1 tetap di posisi 2
//tripod 2 ke posisi 5
GaitPosY[i+1]=-LegLiftHeight/2;
GaitPosZ[i+1]=-TravelLengthZ/2;
GaitPosX[i+1]=-TravelLengthX/2;
GaitRotY[i+1]=-TravelRotation/2;
}
}
else
{
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 2
GaitPosY[i]=0;
GaitPosZ[i]=TravelLengthZ/2;
GaitPosX[i]=TravelLengthX/2;
GaitRotY[i]=TravelRotation/2;
//tripod 2 ke posisi 5
GaitPosY[i+1]=-LegLiftHeight/2;
GaitPosZ[i+1]=-TravelLengthZ/2;
GaitPosX[i+1]=-TravelLengthX/2;
GaitRotY[i+1]=-TravelRotation/2;
}
}
state=5;
break;
case 5:
SetGlobalSpeed(gait_speed);
timer.attach_us(&attime,2000000);
for(i=0;i<6;i=i+2)
{
//tripod 1 ke posisi 3
GaitPosY[i]=-LegLiftHeight;
GaitPosZ[i]=TravelLengthZ/2;
GaitPosX[i]=TravelLengthX/2;
GaitRotY[i]=TravelRotation/2;
//tripod 2 ke posisi 6
GaitPosY[i+1]=0;
GaitPosZ[i+1]=-TravelLengthZ/2;
GaitPosX[i+1]=-TravelLengthX/2;
GaitRotY[i+1]=-TravelRotation/2;
}
state=0;
first=0;
break;
}
}
/*-----------------------------[BODY INVERSE KINEMATICS]-----------------------------*/
void BodyIK (float PosX, float PosZ, float PosY, float RotationY, unsigned char BodyIKIndex)
{
//Alfa (A) = X-Rotation (Pitch)
//Beta (B) = Z-Rotation (Roll)
//Gamma (G) = Y-Rotation (Yaw)
float SinA;
float CosA;
float SinB;
float CosB;
float SinG;
float CosG;
int TotalX;
int TotalY;
int TotalZ;
TotalZ = OffsetZ[BodyIKIndex] + PosZ;
TotalX = OffsetX[BodyIKIndex] + PosX;
TotalY = PosY;
SinA = sin((float)( BodyRotX )/572.96);
CosA = cos((float)( BodyRotX )/572.96);
SinB = sin((float)( BodyRotZ )/572.96);
CosB = cos((float)( BodyRotZ )/572.96);
SinG = sin((float)(BodyRotY+RotationY)/572.96);
CosG = cos((float)(BodyRotY+RotationY)/572.96);
BodyIKPosX = TotalX - (int)( (float)(TotalX)*CosG*CosB - (float)(TotalZ)*CosB*SinG + (float)(TotalY)*SinB );
BodyIKPosZ = TotalZ - (int)( (float)(TotalX)*CosA*SinG + (float)(TotalX)*CosG*SinB*SinA + (float)(TotalZ)*CosG*CosA - (float)(TotalZ)*SinG*SinB*SinA - (float)(TotalY)*CosB*SinA );
BodyIKPosY = TotalY - (int)( (float)(TotalX)*SinG*SinA - (float)(TotalX)*CosG*CosA*SinB + (float)(TotalZ)*CosG*SinA + (float)(TotalZ)*CosA*SinG*SinB + (float)(TotalY)*CosB*CosA );
}
/*------------------------------[LEG INVERSE KINEMATICS]-----------------------------*/
void LegIK (float IKFeetPosX, float IKFeetPosY, float IKFeetPosZ, unsigned char LegIKIndex)
{
int IKFemurLengthSquare;
int IKTibiaLengthSquare;
int IKFeetPosXZMinusCoxaLength;
float IKFeetToFemurJointDistance;
float IKFeetToFemurJointDistanceSquare;
float IKFemurAngleTemp1;
float IKFemurAngleTemp2;
IKFemurLengthSquare = FemurLength*FemurLength;
IKTibiaLengthSquare = TibiaLength*TibiaLength;
IKFeetPosXZMinusCoxaLength = (int)(sqrt((float)((IKFeetPosX*IKFeetPosX)+(IKFeetPosZ*IKFeetPosZ)))) - CoxaLength;
IKFeetToFemurJointDistance = (sqrt((float)((IKFeetPosXZMinusCoxaLength*IKFeetPosXZMinusCoxaLength)+(IKFeetPosY*IKFeetPosY))));
IKFeetToFemurJointDistanceSquare = IKFeetToFemurJointDistance*IKFeetToFemurJointDistance;
IKFemurAngleTemp1 = (atan2((float)IKFeetPosY,(float)IKFeetPosXZMinusCoxaLength));
IKFemurAngleTemp2 = (acos(((float)(IKFemurLengthSquare-IKTibiaLengthSquare)+IKFeetToFemurJointDistanceSquare) / ((float)(2*FemurLength)*IKFeetToFemurJointDistance)));
FemurAngle[LegIKIndex] = (int)((IKFemurAngleTemp1-IKFemurAngleTemp2)*572.96);
TibiaAngle[LegIKIndex] = (int)(((acos(((float)(IKFemurLengthSquare+IKTibiaLengthSquare)-IKFeetToFemurJointDistanceSquare) / ((float)(2*FemurLength*TibiaLength)))))*572.96) - 900;
CoxaAngle[LegIKIndex] = (int)((atan2((float)(IKFeetPosZ),(float)(IKFeetPosX)))*572.96) - CoxaAngleOffset[LegIKIndex];
}
void IKCalculation (void)
{
unsigned char LegIndex;
for (LegIndex = 0; LegIndex < 3; LegIndex++)
{
BodyIK (-LegPosX[LegIndex]+BodyPosX+GaitPosX[LegIndex], LegPosZ[LegIndex]+BodyPosZ+GaitPosZ[LegIndex], LegPosY[LegIndex]+BodyPosY+GaitPosY[LegIndex], GaitRotY[LegIndex], LegIndex);
LegIK (LegPosX[LegIndex]-BodyPosX+BodyIKPosX-GaitPosX[LegIndex], LegPosY[LegIndex]+BodyPosY-BodyIKPosY+GaitPosY[LegIndex], LegPosZ[LegIndex]+BodyPosZ-BodyIKPosZ+GaitPosZ[LegIndex], LegIndex);
}
for (LegIndex = 3; LegIndex < 6; LegIndex++)
{
BodyIK (LegPosX[LegIndex]-BodyPosX+GaitPosX[LegIndex], LegPosZ[LegIndex]+BodyPosZ+GaitPosZ[LegIndex], LegPosY[LegIndex]+BodyPosY+GaitPosY[LegIndex], GaitRotY[LegIndex], LegIndex);
LegIK (LegPosX[LegIndex]+BodyPosX-BodyIKPosX+GaitPosX[LegIndex], LegPosY[LegIndex]+BodyPosY-BodyIKPosY+GaitPosY[LegIndex], LegPosZ[LegIndex]+BodyPosZ-BodyIKPosZ+GaitPosZ[LegIndex], LegIndex);
}
}
/*-----------------------------[CHECK ANGLES]---------------------------*/
void CheckAngles (void)
{
}
void ServoDriver (unsigned int persen_kecepatan)
{
float speed_servo ;
unsigned char /*LegIndex,*/i;
int Posisi[19];
float Speed[19];
speed_servo = persen_kecepatan*0.01;
//int param[36];
//LF
Posisi[1] = (1500+CoxaAngle[3])/10;
Posisi[2] = ((1500-FemurAngle[3])-offsetfemur)/10;
Posisi[3] = ((1500+TibiaAngle[3])+offsettibia)/10;
//RF
Posisi[4] = (1500-CoxaAngle[0]-50)/10; //ditambah maju
Posisi[5] = ((FemurAngle[0]+1500)+offsetfemur)/10;
Posisi[6] = ((-TibiaAngle[0]+1500)-offsettibia-20)/10;
//LM
Posisi[7] = (1500+CoxaAngle[4]+50)/10;//ditambah mundur
Posisi[8] = ((1500-FemurAngle[4])-offsetfemur)/10;
Posisi[9] = ((1500+TibiaAngle[4])+offsettibia+40)/10;
//RM
Posisi[10] =(1550-CoxaAngle[1]-50)/10;
Posisi[11] =((FemurAngle[1]+1500+20)+offsetfemur)/10;
Posisi[12] =((-TibiaAngle[1]+1500+10)-offsettibia-20)/10;
//lR
Posisi[13] =(1500+CoxaAngle[5])/10;
Posisi[14] =((1500-FemurAngle[5]))/10;
Posisi[15] =((1500+TibiaAngle[5])+offsettibia-20)/10;
//RR
Posisi[16] =(1500-CoxaAngle[2])/10;
Posisi[17] =((FemurAngle[2]+1500)+offsetfemur)/10;
Posisi[18] =((-TibiaAngle[2]+1500)-offsettibia)/10; //ditambah turun
for (i = 1; i < 19; i++)
{
Speed[i] = speed_servo;
}
Servo.MultSetGoal(
Posisi[1] ,Speed[1],
Posisi[2] ,Speed[2],
Posisi[3] ,Speed[3],
Posisi[4] ,Speed[4],
Posisi[5] ,Speed[5],
Posisi[6] ,Speed[6],
Posisi[7] ,Speed[7],
Posisi[8] ,Speed[8],
Posisi[9] ,Speed[9],
Posisi[10],Speed[10],
Posisi[11],Speed[11],
Posisi[12],Speed[12],
Posisi[13],Speed[13],
Posisi[14],Speed[14],
Posisi[15],Speed[15],
Posisi[16],Speed[16],
Posisi[17],Speed[17],
Posisi[18],Speed[18]
);
}
/*-------------------[DO DYNAMIC MOVEMENT]------------------------*/
void DoDynamicMovement (void)
{
if (GaitSequencerOn == FALSE)
{
StartSequencer();
}
stop=0;
seq=1;
}
/*-------------------[DO STATIC MOVEMENT]-----------------------*/
void DoStaticMovement (void)
{
float waktu_tunggu;
waktu_tunggu = 0.2;
if (GaitSequencerOn == FALSE)
{
IKCalculation();
ServoDriver(SpeedServo);
//delay_ms(FrameTime-(unsigned int)ApproxCalculationDelay);
wait(waktu_tunggu);
}
}
/*------------------------[GAIT SELECT]------------------------*/
void GaitSelect (unsigned char Type)
{
GaitType = Type;
switch (GaitType)
{
case 1: //Ripple Gait 6 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 5;
GaitLegNr[RR] = 3;
GaitLegNr[LF] = 4;
GaitLegNr[LM] = 2;
GaitLegNr[LR] = 6;
NrLiftedPos = 1;
TLDivFactor = 4;
StepsInGait = 6;
HalfLiftHeigth = FALSE;
break;
case 2: //Ripple Gait 12 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 9;
GaitLegNr[RR] = 5;
GaitLegNr[LF] = 7;
GaitLegNr[LM] = 3;
GaitLegNr[LR] = 11;
NrLiftedPos = 3;
TLDivFactor = 8;
StepsInGait = 12;
HalfLiftHeigth = TRUE;
break;
case 3: //Tripod 4 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 3;
GaitLegNr[RR] = 1;
GaitLegNr[LF] = 3;
GaitLegNr[LM] = 1;
GaitLegNr[LR] = 3;
NrLiftedPos = 1;
TLDivFactor = 2;
StepsInGait = 4;
HalfLiftHeigth = FALSE;
break;
case 4: //Tripod 6 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 4;
GaitLegNr[RR] = 1;
GaitLegNr[LF] = 4;
GaitLegNr[LM] = 1;
GaitLegNr[LR] = 4;
NrLiftedPos = 2;
TLDivFactor = 4;
StepsInGait = 6;
HalfLiftHeigth = FALSE;
break;
case 5: //Tripod 8 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 5;
GaitLegNr[RR] = 1;
GaitLegNr[LF] = 5;
GaitLegNr[LM] = 1;
GaitLegNr[LR] = 5;
NrLiftedPos = 3;
TLDivFactor = 4;
StepsInGait = 8;
HalfLiftHeigth = FALSE;
break;
case 6: //Quadripple 9 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 7;
GaitLegNr[RR] = 4;
GaitLegNr[LF] = 5;
GaitLegNr[LM] = 2;
GaitLegNr[LR] = 8;
NrLiftedPos = 2;
TLDivFactor = 6;
StepsInGait = 9;
HalfLiftHeigth = FALSE;
break;
case 7: //Wave 12 steps
GaitLegNr[RF] = 11;
GaitLegNr[RM] = 9;
GaitLegNr[RR] = 7;
GaitLegNr[LF] = 5;
GaitLegNr[LM] = 3;
GaitLegNr[LR] = 1;
NrLiftedPos = 1;
TLDivFactor = 10;
StepsInGait = 12;
HalfLiftHeigth = FALSE;
break;
case 8: //Wave 18 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 16;
GaitLegNr[RR] = 13;
GaitLegNr[LF] = 10;
GaitLegNr[LM] = 7;
GaitLegNr[LR] = 4;
NrLiftedPos = 2;
TLDivFactor = 16;
StepsInGait = 18;
HalfLiftHeigth = FALSE;
break;
default://Tripod 4 steps
GaitLegNr[RF] = 1;
GaitLegNr[RM] = 3;
GaitLegNr[RR] = 1;
GaitLegNr[LF] = 3;
GaitLegNr[LM] = 1;
GaitLegNr[LR] = 3;
NrLiftedPos = 1;
TLDivFactor = 2;
StepsInGait = 4;
HalfLiftHeigth = FALSE;
}
}
//[SET BODY HEIGHT]
void SetBodyHeight (int BodyHeightInput)
{
BodyHeight = BodyHeightInput;
if (BodyHeightInput<0)
{
BodyHeightInput = 0;
}
if (BodyHeightInput>100)
{
BodyHeightInput = 100;
}
BodyPosY = BodyHeight;
if (Ready==TRUE)
{
DoStaticMovement();
}
}
//--------------------------------------------------------------------
//[SET LEG LIFT HEIGHT]
void SetLegLiftHeight (int LegLiftHeightInput)
{
LegLiftHeight = LegLiftHeightInput;
if (LegLiftHeight<10)
{
LegLiftHeight = 10;
}
if (LegLiftHeight>(BodyHeight+30))
{
LegLiftHeight = (BodyHeight+30);
}
}
//--------------------------------------------------------------------
//[SET FRAME TIME]
void SetFrameTime (unsigned int FrameTimeInput)
{
FrameTime = FrameTimeInput;
if (FrameTime>5000)
{
FrameTime = 5000;
}
}
//--------------------------------------------------------------------
//[GET READY]
void GetReady (int LegRadiusInput, int NormCoxaAngleInput)
{
StopSequencer();
LegRadius = LegRadiusInput;
if (LegRadius<60)
{
LegRadius = 60;
}