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main.cpp
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/*****************************************************************************
*
* $Id: main.c,v 6a6dec6fc806 2012/09/19 17:46:58 fp $
*
* Copyright (C) 2007-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master 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 the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <arpa/inet.h>
#include <iostream>
#include <memory>
// #include<array>
/****************************************************************************/
#include "ecrt.h"
#include "pid_controller.h"
#include "interface/cmdpanel.h"
#include "fuzzy_pid.h"
// #include "datalogger.h"
#include "Eigen/Dense"
#include "biped.h"
#include "math/MathUtilities.h"
// add
#include "../interface/CheatIO.h"
#include "../include/checkjoint.h"
#include "../include/OrientationEstimator.h"
#include "../include/PositionVelocityEstimator.h"
#include "../include/utility/cppTypes.h"
#include "../include/ControlFSMData.h"
#include "../include/DesiredCommand.h"
#include "../include/FSM/FSM.h"
#include "../include/N100WP.h"
/****************************************************************************/
// Application parameters
#define FREQUENCY 1000
#define PRIORITY 1
// Optional features
#define CONFIGURE_PDOS 1
#define BIGNUM 100000000.0
PIDControl *PID_ptr_M; //
fuzzypid *FPID_ptr;
int sock;
struct sockaddr_in server;
char message[1000];
/****************************************************************************/
// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain = NULL;
static ec_domain_state_t domain_state = {};
static ec_slave_config_t *sc1;
static ec_slave_config_state_t sc1_ana_in_state = {};
static ec_slave_config_t *sc2;
static ec_slave_config_state_t sc2_ana_in_state = {};
static ec_slave_config_t *sc3;
static ec_slave_config_state_t sc3_ana_in_state = {};
static ec_slave_config_t *sc4;
static ec_slave_config_state_t sc4_ana_in_state = {};
static ec_slave_config_t *sc5;
static ec_slave_config_state_t sc5_ana_in_state = {};
static ec_slave_config_t *sc6;
static ec_slave_config_state_t sc6_ana_in_state = {};
static ec_slave_config_t *sc7;
static ec_slave_config_state_t sc7_ana_in_state = {};
static CmdPanel *cmdptr = NULL;
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
int fd1, count_r3,fd2;
struct termios options1,options2;
// u8 Fd_data[64];
// u8 Fd_rsimu[64];
// u8 Fd_rsahrs[56];
// int rs_imutype = 0;
// int rs_ahrstype = 0;
// IMUData_Packet_t IMUData_Packet;
// AHRSData_Packet_t AHRSData_Packet;
/****************************************************************************/
// process data
// static uint8_t *domain_pd = NULL;
// #define BusCouplerPos 0, 0
// #define TI_AM3359ICE 0x00000009, 0x26483052
// // offsets for PDO entries
static unsigned int off_bytes_0x7030;
static unsigned int off_bits_0x7030;
static unsigned int off_bytes_0x7030_1;
static unsigned int off_bits_0x7030_1;
static unsigned int off_bytes_0x6000[2] = {1};
static unsigned int off_bits_0x6000[2] = {1};
static unsigned int off_bytes_0x6000_1[2] = {1};
static unsigned int off_bits_0x6000_1[2] = {1};
static unsigned int off_bytes_0x6010[8] = {1};
static unsigned int off_bits_0x6010[8] = {1};
static unsigned int off_bytes_0x6010_1[2] = {1};
static unsigned int off_bits_0x6010_1[2] = {1};
static unsigned int off_bytes_0x6000_2[2] = {1};
static unsigned int off_bits_0x6000_2[2] = {1};
static unsigned int off_bytes_0x6000_3[2] = {1};
static unsigned int off_bits_0x6000_3[2] = {1};
static unsigned int off_bytes_0x6000_4[2] = {1};
static unsigned int off_bits_0x6000_4[2] = {1};
static unsigned int off_bytes_0x6000_5[2] = {1};
static unsigned int off_bits_0x6000_5[2] = {1};
static unsigned int off_bytes_0x7010[6] = {1};
static unsigned int off_bits_0x7010[6] = {1};
static unsigned int off_bytes_0x7011[6] = {1};
static unsigned int off_bits_0x7011[6] = {1};
static unsigned int counter = 0;
static unsigned int blink = 0x00;
static uint8_t *domain_pd = NULL;
#define BusCouplerPos1 0, 0
#define BusCouplerPos2 256, 1
#define BusCouplerPos3 256, 0
#define BusCouplerPos4 256, 2
#define BusCouplerPos5 256, 3
#define BusCouplerPos6 256, 4
#define BusCouplerPos7 256, 5
#define TI_AM3359ICE 0x01222222, 0x00020310
#define TI_AM3359ICE1 0x00000b95, 0x00020310
#define Valve 0x00000b95, 0x00020130
#include "cstruct.h"
int fd = -1;
struct sockaddr_in saddr;
// DataLogger &logger = DataLogger::GET();
// LowPassFilter filter;
float ifswing = 0;
float Deg[3];
float KuanDeg[2];
float rj4angle = 0, rj5angle = 0, rj3angle = 0, rj2angle = 0, rj1angle = 0, rj0angle = 0;
float LDeg[3];
float RDeg[3];
float LKuanDeg[2];
float lj4angle = 0, lj5angle = 0, lj3angle = 0, lj2angle = 0, lj1angle = 0, lj0angle = 0;
float Ps = 0;
float P0 = 0;
float swingtime = 0;
float swingtime1 = 0;
float zmpscope[4] = {0, 0, 0, 0};
float cphasescope[2] = {0, 0};
float walkphase;
float dyx, dyy;
float uxx, uyy;
float rlegswingphase, rlegcontactphase;
float llegswingphase, llegcontactphase;
float zmpInitialq[12];
int error1 = 0;
int correct1 = 0;
int error2=0;
int correct2=0;
IMUDataprocess SX;
IMUDataprocess SY;
Vec3<float> Base_RPY_RAW;
Vec3<float> Base_ACC_RAW;
bool firstrun = true;
/*
legpre2:rad
*/
float legpre2[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/*
legpre2l:mm
*/
float legpre2L[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float legpre1_5[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float *TR_data[12];
/*
legpre1:rad
*/
float legpre1[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/*
legpre1L:油缸长度,mm
*/
float legpre1L[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
unsigned long SSI[12];
float PressureA[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float PressureB[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
void copy_arr_part(u8 src[], u8 dest[], int start, int end)
{
memcpy(dest, src + start, (end - start) * sizeof(u8));
}
void check_domain_state(void)
{
ec_domain_state_t ds;
ecrt_domain_state(domain, &ds);
if (ds.working_counter != domain_state.working_counter)
printf("Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain_state.wc_state)
printf("Domain1: State %u.\n", ds.wc_state);
domain_state = ds;
}
/*****************************************************************************/
/*****************************************************************************/
void check_master_state(void)
{
// printf("check_master_state\n");
ec_master_state_t ms;
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
if (ms.link_up != master_state.link_up)
printf("Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
void check_slave1_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc1, &s);
if (s.al_state != sc1_ana_in_state.al_state)
printf("AnaIn1: State 0x%02X.\n", s.al_state);
if (s.online != sc1_ana_in_state.online)
printf("AnaIn1: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc1_ana_in_state.operational)
printf("AnaIn1: %soperational.\n",
s.operational ? "" : "Not ");
sc1_ana_in_state = s;
}
void check_slave2_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc2, &s);
if (s.al_state != sc2_ana_in_state.al_state)
printf("AnaIn2: State 0x%02X.\n", s.al_state);
if (s.online != sc2_ana_in_state.online)
printf("AnaIn2: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc2_ana_in_state.operational)
printf("AnaIn2: %soperational.\n",
s.operational ? "" : "Not ");
sc2_ana_in_state = s;
}
void check_slave3_config_states(void)
{
// printf("check_slave_config_states\n");
ec_slave_config_state_t s;
ecrt_slave_config_state(sc3, &s);
if (s.al_state != sc3_ana_in_state.al_state)
printf("AnaIn3: State 0x%02X.\n", s.al_state);
if (s.online != sc3_ana_in_state.online)
printf("AnaIn3: %s.\n", s.online ? "online" : "offline");
if (s.operational != sc3_ana_in_state.operational)
printf("AnaIn3: %soperational.\n",
s.operational ? "" : "Not ");
sc3_ana_in_state = s;
}
void GetIMURPYData()
{
unsigned char buff3[21];
if ((count_r3 = read(fd2, (void *)buff3, 21)) < 0)
perror("ERR:No data is ready to be read\n");
else if (count_r3 == 0)
printf("ERR:No data is ready to be read\n");
else
{
buff3[count_r3] = 0;
for (int i = 0; i < count_r3 - 11; i++)
{
if ((buff3[i] == 0x55) && (buff3[i + 1] == 0x55) &&
(buff3[i + 2] == 0x01))
{
unsigned char sum = buff3[i] + buff3[i + 1] + buff3[i + 2] +
buff3[i + 3] + buff3[i + 4] + buff3[i + 5] +
buff3[i + 6] + buff3[i + 7] + buff3[i + 8] +
buff3[i + 9];
if (sum == buff3[i + 10])
{
correct1++;
Base_RPY_RAW[0]=(float)((int)buff3[i + 5] * 256 + (int)buff3[i + 4]) /
32768.0 * 180.0;
Base_RPY_RAW[1]=(float)((int)buff3[i + 7] * 256 + (int)buff3[i + 6]) /
32768.0 * 180.0;
Base_RPY_RAW[2]=(float)((int)buff3[i + 9] * 256 + (int)buff3[i + 8]) /
32768.0 * 180.0;
break;
}
else
error1++;
}
}
}
}
void GetIMUACCData()
{
unsigned char buff3[34];
if ((count_r3 = read(fd1, (void *)buff3, 34)) < 0)
perror("ERR:No data is ready to be read\n");
else if (count_r3 == 0)
printf("ERR:No data is ready to be read\n");
else
{
buff3[count_r3] = 0;
for (int i = 0; i < count_r3 - 17; i++)
{
if((buff3[i] == 0x55) && (buff3[i + 1] == 0x55) &&
(buff3[i + 2] == 0x03))
{
unsigned char sum ;
for(int j=0;j<16;j++)
{
sum+=buff3[i+j];
}
if(sum==buff3[i+16])
{
correct2++;
unsigned char AxL=buff3[i+4];
unsigned char AxH=buff3[i+5];
unsigned char AyL=buff3[i+6];
unsigned char AyH=buff3[i+7];
unsigned char AzL=buff3[i+8];
unsigned char AzH=buff3[i+9];
int16_t Axint=(int16_t) (AxH<<8) | AxL;
int16_t Ayint=(int16_t) (AyH<<8) | AyL;
int16_t Azint=(int16_t) (AzH<<8) | AzL;
Base_ACC_RAW[0]=(float)Axint/32768*4;
Base_ACC_RAW[1]=(float)Ayint/32768*4;
Base_ACC_RAW[2]=(float)Azint/32768*4;
break;
}
else
error2++;
}
}
}
}
void cyclic_task(Biped &bipins, float time, FSM *_FSMController)
{
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain);
// check process data state (optional)
check_domain_state();
if (counter)
{
counter--;
}
else
{ // do this at 1 Hz
// double LEGlength = bipins.calfLinkLength + bipins.thighLinkLength + bipins.toeLinkLength;
// Vec6<double> RjQ;
// Vec3<double> P;
// float Deg[3];
// float KuanDeg[2];
// float rj4angle=0,rj5angle=0;
// P.setZero();
// P(2) = -1 * LEGlength - 0.07 * LEGlength * (cos(0.2 * M_PI * time + 1.5 * M_PI) - 1);
// Deg[0] = 1*(14 * cos(0.2 * M_PI * time) - 14);
// Deg[0] = 1*(14 * sin(0.2 * M_PI * time));
rj0angle = 0;
rj1angle = 0;
rj2angle = 0;
rj3angle = 0;
rj4angle = 0;
rj5angle = 0;
lj0angle = 0;
lj1angle = 0;
lj2angle = 0;
lj3angle = 0;
lj4angle = 0;
lj5angle = 0;
int press = 0;
for (int i = 0; i < 12; i++)
SSI[i] = 0;
uint16_t output1 = 0;
SSI[0] = EC_READ_U32(domain_pd + off_bytes_0x6000[0]); // rj0
SSI[1] = EC_READ_U32(domain_pd + off_bytes_0x6000[1]);
SSI[2] = EC_READ_U32(domain_pd + off_bytes_0x6000_1[0]);
SSI[3] = EC_READ_U32(domain_pd + off_bytes_0x6000_1[1]);
SSI[4] = EC_READ_U32(domain_pd + off_bytes_0x6000_2[0]);
SSI[5] = EC_READ_U32(domain_pd + off_bytes_0x6000_2[1]);
SSI[6] = EC_READ_U32(domain_pd + off_bytes_0x6000_3[0]); // lj0
SSI[7] = EC_READ_U32(domain_pd + off_bytes_0x6000_3[1]);
SSI[8] = EC_READ_U32(domain_pd + off_bytes_0x6000_4[0]);
SSI[9] = EC_READ_U32(domain_pd + off_bytes_0x6000_4[1]);
SSI[10] = EC_READ_U32(domain_pd + off_bytes_0x6000_5[0]);
SSI[11] = EC_READ_U32(domain_pd + off_bytes_0x6000_5[1]);
for (int i = 0; i < 12; i++)
{
TR_data[i] = (float *)&SSI[i];
}
PressureA[2] = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010[0])) / 65535 * 10 * 3;
PressureB[2] = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010[1])) / 65535 * 10 * 3;
PressureA[8] = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010[2])) / 65535 * 10 * 3;
PressureB[8] = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010[3])) / 65535 * 10 * 3;
Ps = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010_1[0]));
P0 = (float)(EC_READ_U16(domain_pd + off_bytes_0x6010_1[1]));
Ps = Ps / 100;
cout << "A,B口压力： " << PressureA[2] << '\n';
cout << PressureB[2] << '\n';
cout << "LA,B口压力： " << PressureA[8] << '\n';
cout << PressureB[8] << '\n';
cout << "PS压力:\n"
<< Ps << '\n';
// cout<<"Base 姿态ZYX:\n"<<Base_RPY_RAW<<'\n';
// cout<<"Base 加速度:\n"<<Base_ACC_RAW<<'\n';
// for (int i = 0; i < 12; i++)
// std::cout<<"编码器"<<i<< SSI[i] <<'\n';zz
// bool firstrun=true;
if (time)
{
// Vec6<double> Qt;
// Vec3<double> pt(0,0,-0.897);
// bipins.ComputeIK(Qt,pt);
// cout<<"关节角度"<<Qt<<'\n';
// IKinbodyframe(statectrl->_biped, QDes[foot], &Pdes[foot], foot);
if (bipins.zmpAngleInit(rj1angle, rj2angle, rj3angle, rj4angle, rj5angle, lj1angle, lj2angle, lj3angle, lj4angle, lj5angle))
{
if (cmdptr->uservalue.Settime == true)
{
_FSMController->run();
}
}
legpre1[0]=rj0angle ;
legpre1[1]=rj1angle ;
legpre1[2]=rj2angle ;
legpre1[3]=rj3angle ;
legpre1[4]=rj4angle ;
legpre1[5]=rj5angle ;
legpre1[6]=lj0angle ;
legpre1[7]=lj1angle ;
legpre1[8]=lj2angle ;
legpre1[9]=lj3angle ;
legpre1[10]=lj4angle ;
legpre1[11]=lj5angle ;
/** 右腿流量前馈调试
rj3angle=20*sin(1*M_PI*time+1.5*M_PI)+20;
legpre2[3]=20*sin(1*M_PI*(time+0.5+bipins.sampletime)+1.5*M_PI)+20;
legpre1[3]=20*sin(1*M_PI*(time+0.5-bipins.sampletime)+1.5*M_PI)+20;
press=0;
rj3angle=0;
legpre1[3]=0;
legpre2[3]=0;
rj2angle=15*sin(1*M_PI*time);
legpre2[2]=15*sin(1*M_PI*(time+0.1+bipins.sampletime));
legpre1[2]=15*sin(1*M_PI*(time+0.1-bipins.sampletime));
rj0angle=0*15*sin(0.5*M_PI*time);
rj1angle=0*15*sin(0.5*M_PI*time);
*/
// rj1angle=4*sin(0.5*M_PI*time);
// legpre1[1]=4*sin(0.5*M_PI*(time -bipins.sampletime));
// legpre2[1]=4*sin(0.5*M_PI*(time+bipins.sampletime));
// lj1angle=4*sin(0.5*M_PI*time);
// legpre1[7]=4*sin(0.5*M_PI*(time -bipins.sampletime));
// legpre2[7]=4*sin(0.5*M_PI*(time+bipins.sampletime));
// rj3angle=20*sin(1*M_PI*time+1.5*M_PI)+20;
// legpre2[3]=20*sin(1*M_PI*(time+0.5+bipins.sampletime)+1.5*M_PI)+20;
// legpre1[3]=20*sin(1*M_PI*(time+0.5-bipins.sampletime)+1.5*M_PI)+20;
// lj3angle=20*sin(1*M_PI*time+1.5*M_PI)+20;
// legpre2[9]=20*sin(1*M_PI*(time+0.5+bipins.sampletime)+1.5*M_PI)+20;
// legpre1[9]=20*sin(1*M_PI*(time+0.5-bipins.sampletime)+1.5*M_PI)+20;
// rj2angle=10*sin(0.5*M_PI*time);
// legpre1[2]=10*sin(0.5*M_PI*(time -bipins.sampletime));
// legpre2[2]=10*sin(0.5*M_PI*(time+bipins.sampletime));
// lj2angle=10*sin(0.5*M_PI*time);
// legpre1[8]=10*sin(0.5*M_PI*(time -bipins.sampletime));
// legpre2[8]=10*sin(0.5*M_PI*(time+bipins.sampletime));
// legpre1L[2]=bipins.RJ2convert(legpre1[2])*1e-3;
// legpre2L[2]=bipins.RJ2convert(legpre2[2])*1e-3;
// rj4angle=16.5*cos(0.5*M_PI*time)-16.5;
// legpre1[4]=16.5*cos(0.5*M_PI*(time-bipins.sampletime))-16.5;
// lj4angle=16.5*cos(0.5*M_PI*time)-16.5;
// legpre1[10]=16.5*cos(0.5*M_PI*(time-bipins.sampletime))-16.5;
// legpre2[4]=16.5*cos(0.5*M_PI*(time+bipins.sampletime))-16.5;
// rj3angle=-1*(rj2angle+rj4angle);
// legpre1[3]=-1*(legpre1[2]+legpre1[4]);
// legpre2[3]=-1*(legpre2[2]+legpre2[4]);
// rj2angle=15*sin(0.5*M_PI*time);
// legpre1[2]=15*sin(0.5*M_PI*(time-bipins.sampletime));
// legpre2[2]=15*sin(0.5*M_PI*(time+bipins.sampletime));
// lj2angle=10;
// lj3angle=5;
// lj4angle=10;
// lj5angle=5;
// lj2angle=-15*sin(0.5*M_PI*time);
// legpre1[8]=-15*sin(0.5*M_PI*(time-bipins.sampletime));
// legpre1[8]=-15*sin(0.5*M_PI*(time+bipins.sampletime));
// float lj2vec=-1*cos(0.5*M_PI*time);
// float rj2vec=cos(0.5*M_PI*time);
// if(firstrun)
// {
// rj3angle=0;
// lj3angle=0;
// if(lj2angle<=-29)
// {
// firstrun=false;
// }
// swingtime1=time;
// swingtime=time;
// }
// else
// {
// if(lj2vec<0)
// {
// float time1;
// time1=time-swingtime;
// lj3angle=15*sin(M_PI*(time1)+1.5*M_PI)+15;
// legpre1[9]=15*sin(M_PI*(time1-bipins.sampletime)+1.5*M_PI)+15;
// legpre2[9]=15*sin(M_PI*(time1+bipins.sampletime)+1.5*M_PI)+15;
// }
// else
// {
// swingtime=time;
// }
// if(rj2vec<0)
// {
// float time1;
// time1=time-swingtime1;
// rj3angle=15*sin(M_PI*(time1)+1.5*M_PI)+15;
// legpre1[3]=15*sin(M_PI*(time1-bipins.sampletime)+1.5*M_PI)+15;
// legpre2[3]=15*sin(M_PI*(time1+bipins.sampletime)+1.5*M_PI)+15;
// }
// else
// {
// swingtime1=time;
// }
// }
// cout<<"LJDES[3]:"<<lj3angle<<'\n';
// rj0angle=0;
// bipins.RJ0RJ1convert(legpre1[0],legpre1[1],legpre1L[0],legpre1L[1]);
// bipins.RJ0RJ1convert(legpre2[0],legpre2[1],legpre2L[0],legpre2L[1]);
// rj3angle=20*sin(0.5*M_PI*time+1.5*M_PI)+20;
// legpre1[3]=20*sin(0.5*M_PI*(time+0.1-bipins.sampletime)+1.5*M_PI)+20;
// legpre2[3]=20*sin(0.5*M_PI*(time+0.1+bipins.sampletime)+1.5*M_PI)+20;
// rj5angle=8*sin(0.5*M_PI*time);
// legpre1[5]=8*sin(0.5*M_PI*(time-bipins.sampletime));
// lj5angle=8*sin(0.5*M_PI*time);
// legpre1[11]=8*sin(0.5*M_PI*(time-bipins.sampletime));
// legpre1L[3]=bipins.RJ2convert(legpre1[2])*1e-3;
// legpre2L[3]=bipins.RJ2convert(legpre2[2])*1e-3;
// rj4angle=18*cos(0.2*M_PI*time)-18;
// legpre1[4]=18*cos(0.2*M_PI*(time+0.5+bipins.sampletime))-18;
// legpre2[4]=18*cos(0.2*M_PI*(time+0.5-bipins.sampletime))-18;
// rj3angle=-1*(rj2angle+rj4angle);
// legpre1[3]=-1*(legpre1[4]+legpre1[2]);
// legpre2[3]=-1*(legpre2[4]+legpre2[2]);
// rj3angle=20*sin(0.5*M_PI*time+1.5*M_PI)+20;
// legpre2[3]=20*sin(0.5*M_PI*(time+0.5+bipins.sampletime)+1.5*M_PI)+20;
// legpre1[3]=20*sin(0.5*M_PI*(time+0.5-bipins.sampletime)+1.5*M_PI)+20;
// rj2angle=15*sin(0.5*M_PI*time);
// legpre2[2]=15*sin(0.5*M_PI*(time+0.1+bipins.sampletime));
// legpre1[2]=15*sin(0.5*M_PI*(time+0.1-bipins.sampletime));
// LDeg[2]=8*sin(0.5*M_PI*time);
// LDeg[2]=-20;
// KuanDeg[0] = 2.5 * sin(M_PI * time);
// rj4angle=-12*sin(M_PI*time);
// _FSMController->run();
// rj5angle=-10*sin(M_PI*time);
}
bipins.computepumpvel(legpre1);
// bipins.computepumpvel(legpre1,legpre2,legpre1_5);
cout << "泵前馈:\n"
<< bipins.pumpvelFF << '\n';
float pumpfff=bipins.pumpvelFF;
bipins.pumpvelFF = bipins.pumpvelFF << 16;
EC_WRITE_U32(domain_pd + off_bytes_0x7030_1, bipins.pumpvelFF);
float RJDES[6];
float LJDES[6];
RJDES[0] = rj0angle;
RJDES[1] = rj1angle;
RJDES[2] = rj2angle; // RJ0
RJDES[3] = rj3angle; // RJ1
RJDES[4] = rj4angle; // Rj4
RJDES[5] = rj5angle; // Rj5
LJDES[0] = lj0angle;
LJDES[1] = lj1angle;
LJDES[2] = lj2angle; // LJ3
LJDES[3] = lj3angle;
LJDES[4] = lj4angle; // Lj4
LJDES[5] = lj5angle; // Lj5
// unsigned long ssi[4];
// std::vector<unsigned long> ssi;
// for (int i = 0; i < 12; i++)
// std::cout << "编码器" << i <<" "<< *TR_data[i] << '\n';
// float Ldes = bipins.RJ2convert(RJDES[0]);
// float Lreal = bipins.RJ2convert(*TR_data[0]);
float L4real, L5real, L4des, L5des;
float RL4real, RL5real, RL4des, RL5des;
float LL4real, LL5real, LL4des, LL5des;
float gang0des, gang1des, lgang0des, lgang1des;
float gang0real, gang1real, lgang0real, lgang1real;
bipins.RJ0RJ1convert(RJDES[0], RJDES[1], gang0des, gang1des);
bipins.RJ0RJ1convert(*TR_data[0], *TR_data[1], gang0real, gang1real);
PIDSetpointSet(&PID_ptr_M[0], gang0des);
PIDInputSet(&PID_ptr_M[0], gang0real); // gang0
PIDCompute(&PID_ptr_M[0]);
FeedforwardAdd(&PID_ptr_M[0], gang0des, true);
PIDSetpointSet(&PID_ptr_M[1], gang1des);
PIDInputSet(&PID_ptr_M[1], gang1real); // gang1
PIDCompute(&PID_ptr_M[1]);
FeedforwardAdd(&PID_ptr_M[1], gang1des, true);
bipins.LJ0LJ1convert(LJDES[0], LJDES[1], lgang0des, lgang1des);
bipins.LJ0LJ1convert(*TR_data[6], *TR_data[7], lgang0real, lgang1real);
PIDSetpointSet(&PID_ptr_M[6], lgang0des);
PIDInputSet(&PID_ptr_M[6], lgang0real); // gang0
PIDCompute(&PID_ptr_M[6]);
FeedforwardAdd(&PID_ptr_M[6], lgang0des, true);
PIDSetpointSet(&PID_ptr_M[7], lgang1des);
PIDInputSet(&PID_ptr_M[7], lgang1real); // gang1
PIDCompute(&PID_ptr_M[7]);
FeedforwardAdd(&PID_ptr_M[7], lgang1des, true);
float rj2desl = bipins.RJ2convert(RJDES[2]);
float rj2reall = bipins.RJ2convert(*TR_data[2]);
PIDSetpointSet(&PID_ptr_M[2], rj2desl); // RJ2
PIDInputSet(&PID_ptr_M[2], rj2reall);
PIDCompute(&PID_ptr_M[2]);
FeedforwardAdd(&PID_ptr_M[2], rj2desl, false);
float u = numderivative(PID_ptr_M[2].setpoint * 1e-3, PID_ptr_M[2].lastsetpoint * 1e-3, bipins.sampletime);
float ps = Ps;
float p0 = 0;
FeedforwardAdd_P(&PID_ptr_M[2], bipins.J2gangW, bipins.J2gangY, ps * 1e6, p0, PressureA[2] * 1e6, PressureB[2] * 1e6, u, 10, 1);
// cout<<"RJ2 FFp"<<PID_ptr_M[2].FFP<<'\n';
// cout<<"RJ2_FF"<<PID_ptr_M[2].FF<<'\n';
// FPID_ptr[2].setpointset(rj2desl);
// FPID_ptr[2].inputset(rj2reall);
// FPID_ptr[2].PIDcompute();
// FPID_ptr[2].FeedforwardAdd(true);
// PID_ptr_M[2].output=FPID_ptr[2].output;
float lj2desl = bipins.LJ2convert(LJDES[2]);
float lj2reall = bipins.LJ2convert(*TR_data[8]);
PIDSetpointSet(&PID_ptr_M[8], lj2desl); // RJ2
PIDInputSet(&PID_ptr_M[8], lj2reall);
PIDCompute(&PID_ptr_M[8]);
FeedforwardAdd(&PID_ptr_M[8], lj2desl, false);
FeedforwardAdd_P(&PID_ptr_M[8], bipins.J2gangW, bipins.J2gangY, ps * 1e6, p0, PressureA[8] * 1e6, PressureB[8] * 1e6, u, 10, -1);
float RJ3Ldes = bipins.RJ3Convert(RJDES[3]);
float RJ3L = bipins.RJ3Convert(*TR_data[3]);
PIDSetpointSet(&PID_ptr_M[3], RJ3Ldes);
PIDInputSet(&PID_ptr_M[3], RJ3L);
PIDCompute(&PID_ptr_M[3]);
FeedforwardAdd(&PID_ptr_M[3], RJ3Ldes, true);
float LJ3des = bipins.LJ3Convert(LJDES[3]);
float LJ3L = bipins.LJ3Convert(*TR_data[9]);
PIDSetpointSet(&PID_ptr_M[9], LJ3des);
PIDInputSet(&PID_ptr_M[9], LJ3L);
PIDCompute(&PID_ptr_M[9]);
FeedforwardAdd(&PID_ptr_M[9], LJ3des, true);
// std::cout<<"RJ3PID输出"<<PID_ptr_M[3].output<<'\n';
// std::cout<<"RJ3实际:"<<*TR_data[3]<<'\n';
// std::cout<<"RJ3期望"<<RJDES[3]<<'\n';
// std::cout<<"RJ3期望长度"<<RJ3Ldes<<'\n';
// std::cout<<"RJ3实际长度"<<RJ3L<<'\n';
bipins.RJ4RJ5convert(RJDES[4], RJDES[5], RL4des, RL5des);
bipins.RJ4RJ5convert(*TR_data[4], *TR_data[5], RL4real, RL5real);
PIDSetpointSet(&PID_ptr_M[4], RL4des);
PIDInputSet(&PID_ptr_M[4], RL4real);
PIDCompute(&PID_ptr_M[4]);
FeedforwardAdd(&PID_ptr_M[4], RL4des, true);
PIDSetpointSet(&PID_ptr_M[5], RL5des);
PIDInputSet(&PID_ptr_M[5], RL5real);
PIDCompute(&PID_ptr_M[5]);
FeedforwardAdd(&PID_ptr_M[5], RL5des, true);
bipins.LJ4LJ5convert(LJDES[4], LJDES[5], LL4des, LL5des);
bipins.LJ4LJ5convert(*TR_data[10], *TR_data[11], LL4real, LL5real);
PIDSetpointSet(&PID_ptr_M[10], LL4des);
PIDInputSet(&PID_ptr_M[10], LL4real);
PIDCompute(&PID_ptr_M[10]);
FeedforwardAdd(&PID_ptr_M[10], LL4des, true);
PIDSetpointSet(&PID_ptr_M[11], LL5des);
PIDInputSet(&PID_ptr_M[11], LL5real);
PIDCompute(&PID_ptr_M[11]);
FeedforwardAdd(&PID_ptr_M[11], LL5des, true);
// PID_ptr_M[11].output = 0;
int OutIndex[6] = {0, 1, 5, 6, 7, 11};
// 创建一个布尔数组来标记
bool is_out_index[12] = {false};
for (int i = 0; i < 6; ++i)
{
is_out_index[OutIndex[i]] = true;
}
int c_idx = 0;
int v_idx = 0;
// PID_ptr_M[3].output = 1;
// PID_ptr_M[4].output = 1;
// PID_ptr_M[5].output = 1;
// PID_ptr_M[0].output=5*sin(M_PI*time);
// PID_ptr_M[8].output = 1+5*sin(M_PI*time);
// PID_ptr_M[9].output = 1+5*sin(M_PI*time);
// PID_ptr_M[10].output = 1+5*sin(M_PI*time);
// PID_ptr_M[11].output = 1+5*sin(M_PI*time);
for (int i = 0; i < 12; ++i)
{
output1 = (uint16_t)((PID_ptr_M[i].output + 10) / 20 * 65535);
if (is_out_index[i])
{
EC_WRITE_U16(domain_pd + off_bytes_0x7010[c_idx++], output1);
}
else
{
EC_WRITE_U16(domain_pd + off_bytes_0x7011[v_idx++], output1);
}
}
// output1 = (uint16_t)((PID_ptr_M[4].output+ 10) / 20 * 65536);
// EC_WRITE_U16(domain_pd + off_bytes_0x7011[2], output1);
// output1 = (uint16_t)((PID_ptr_M[5].output + 10) / 20 * 65536);
// EC_WRITE_U16(domain_pd + off_bytes_0x7010[2], output1);
counter = 0;
// std::cout << "-------------------\n";
// logger.Savedata();
char sendBuf[128];
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f\n", RJDES[0],*TR_data[0],*TR_data[2],*TR_data[3],
// PID_ptr_M[2].alteredKp,PID_ptr_M[2].dispKi,rj2desl,PID_ptr_M[2].FF,PID_ptr_M[2].output);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", *TR_data[0], *TR_data[1], *TR_data[2],
// *TR_data[3],*TR_data[4], *TR_data[5],*TR_data[6],*TR_data[7],*TR_data[8],*TR_data[9],*TR_data[10]
// ,*TR_data[11],RJDES[1],LJDES[1],gang0des,gang0real,gang1des,gang1real,lgang0des,lgang0real,lgang1des,lgang1real);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", PID_ptr_M[1].Error1,PID_ptr_M[2].Error1,PID_ptr_M[3].Error1,PID_ptr_M[4].Error1,PID_ptr_M[5].Error1, PID_ptr_M[7].Error1,PID_ptr_M[8].Error1,PID_ptr_M[9].Error1,PID_ptr_M[10].Error1,PID_ptr_M[11].Error1,PID_ptr_M[4].input,PID_ptr_M[10].input);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",gang1des,rj2desl,RJ3Ldes,RL4des,RL5des,
// lgang1des,lj2desl,LJ3des,LL4des,LL5des);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", *TR_data[0], *TR_data[1], *TR_data[2],
// *TR_data[3], *TR_data[4], *TR_data[5], RJDES[0], RJDES[1], RJDES[2], RJDES[3], RJDES[4], RJDES[5], Deg[2], LDeg[2], (float)PressureA[2], (float)PressureB[2], PID_ptr_M[2].FF, PID_ptr_M[2].FFP, u, Ps);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", Deg[0], Deg[1],Deg[2], LDeg[0], LDeg[1], LDeg[2],RJDES[0],RJDES[1],RJDES[2],RJDES[3],RJDES[4],RJDES[5],ifswing);
sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", RJDES[0], RJDES[1], RJDES[2],
RJDES[3], RJDES[4], RJDES[5], LJDES[0], LJDES[1], LJDES[2], LJDES[3], LJDES[4], LJDES[5], *TR_data[0], *TR_data[1], *TR_data[2],
*TR_data[3], *TR_data[4], *TR_data[5], *TR_data[6], *TR_data[7], *TR_data[8], *TR_data[9], *TR_data[10], *TR_data[11], PressureA[2], PressureB[2], PressureA[8], PressureB[8],Ps,pumpfff);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f\n",Deg[0],Deg[1],Deg[2],LDeg[0],LDeg[1],LDeg[2]);
// ZMP
// sprintf(sendBuf,"d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",zmpscope[0],zmpscope[1],zmpscope[2],zmpscope[3],
// walkphase,dyx,dyy,rlegswingphase,rlegcontactphase,llegswingphase,llegcontactphase,RDeg[0],RDeg[1],RDeg[2],LDeg[0],LDeg[1],LDeg[2]
// ,LJDES[0], LJDES[1], LJDES[2], LJDES[3], LJDES[4], LJDES[5]);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", RJDES[0], RJDES[1], RJDES[2],
// RJDES[3], RJDES[4], RJDES[5], LJDES[0], LJDES[1], LJDES[2], LJDES[3], LJDES[4], LJDES[5]);
// float sx=SX.computeS(Base_ACC_RAW[0]);
// float sy=SY.computeS(Base_ACC_RAW[1]);
// sprintf(sendBuf, "d:%f,%f,%f,%f,%f,%f,%f,%f\n", Base_RPY_RAW[0],Base_RPY_RAW[1],Base_RPY_RAW[2],Base_ACC_RAW[0],
// Base_ACC_RAW[1],Base_ACC_RAW[2],sx,sy);
// sprintf(sendBuf,"d:%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", zmpInitialq[0], zmpInitialq[1],zmpInitialq[2],
// zmpInitialq[3], zmpInitialq[4],zmpInitialq[5], zmpInitialq[0],zmpInitialq[1],zmpInitialq[2], zmpInitialq[3], zmpInitialq[4],
// zmpInitialq[5]);
sendto(fd, sendBuf, strlen(sendBuf) + 1, 0, (struct sockaddr *)&saddr, sizeof(saddr));
}
blink++;
check_master_state();
ecrt_domain_queue(domain);
ecrt_domain_queue(domain);
ecrt_master_send(master);
}
/****************************************************************************/
void signal_handler(int signum)
{
switch (signum)
{
case SIGALRM:
sig_alarms++;
break;
}
}
/****************************************************************************/
int main(int argc, char **argv)
{
fd = socket(PF_INET, SOCK_DGRAM, 0);
if (fd == -1)
{
perror("socket");
exit(-1);
}