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Commit 2c6062c2 authored by Sergi Hernandez's avatar Sergi Hernandez
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Deleted some unnecessary files from the dexter example folder. 

Updated the stairs example to walk to the stairs and climb a single step.
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examples/dexter/movements.c~ deleted 100644 → 0
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− 81
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#include <util/delay.h>
#include <stdio.h>
#include "cm510.h"
#include "balance.h"
#include "exp_board.h"
#include "mtn_library.h"
#include <stdlib.h>
typedef enum {wait_start,wait_walk_ready,wait_cmd,walk,walk2} main_states;
void user_init(void)
{
serial_console_init(57600);
balance_init();
balance_calibrate_gyro();
balance_enable_gyro();
mtn_lib_init();
}
typedef uint8_t (*fnct_ptr)(void);
fnct_ptr fnct1=fast_walk_forward;
//fnct_ptr fnct1=walk_forward;
//fnct_ptr fnct1=walk_right;
//fnct_ptr fnct1=walk_backward_turn_left;
fnct_ptr fnct2=turn_left;
//fnct_ptr fnct2=walk_left;
//fnct_ptr fnct2=walk_backward_turn_right;
void user_loop(void)
{
static main_states state=wait_start;
static int current_foot = 0;
switch(state)
{
case wait_start: if(is_button_rising_edge(BTN_START))
{
action_set_page(30);
action_start_page();
state=wait_walk_ready;
}
else
state=wait_start;
break;
case wait_walk_ready: if(is_action_running())
state=wait_walk_ready;
else
state=wait_cmd;
break;
case wait_cmd: if(is_button_rising_edge(BTN_UP))
{
fnct1();
state=walk;
}
else if(is_button_rising_edge(BTN_LEFT))
{
fnct2();
state=walk2;
}
else
state=wait_cmd;
break;
case walk: if(is_button_rising_edge(BTN_DOWN))
mtn_lib_stop_mtn();
if(fnct1()==0x01)
state=wait_cmd;
else
state=walk;
break;
case walk2: if(is_button_rising_edge(BTN_RIGHT))
mtn_lib_stop_mtn();
if(fnct2()==0x01)
state=wait_cmd;
else
state=walk2;
break;
}
}
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examples/dexter/mtn_library.c~ deleted 100644 → 0
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#include <avr/io.h>
#include "mtn_library.h"
#include "action_id.h"
#include "action.h"
#include <stdio.h>
// private variables
typedef enum {mtn_fwd=0,mtn_bwd=1,mtn_turn_left=2,mtn_turn_right=3,mtn_left=4,mtn_right=5,mtn_fwd_turn_left=6,mtn_fwd_turn_right=7,
mtn_bwd_turn_left=8,mtn_bwd_turn_right=9,mtn_fwd_left=10,mtn_fwd_right=11,mtn_bwd_left=12,mtn_bwd_right=13,
mtn_fast_fwd=14,mtn_fast_bwd=15} mtn_t;
typedef enum {idle,wait_start,wait_middle,wait_end} full_states;
typedef struct{
uint8_t start_l;
uint8_t start_r;
uint8_t middle_l;
uint8_t middle_r;
uint8_t end_l;
uint8_t end_r;
}TPages;
uint8_t mtn_lib_stop;
foot_t mtn_lib_start_foot;
foot_t mtn_lib_current_foot;
TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
{B_S_L,B_S_R,B_M_L,B_M_R,B_E_L,B_E_R},
{LT_S_L,LT_S_R,LT_M_L,LT_M_R,LT_E_L,LT_E_R},
{RT_S_L,RT_S_R,RT_M_L,RT_M_R,RT_E_L,RT_E_R},
{L_S_L,L_S_R,L_M_L,L_M_R,L_E_L,L_E_R},
{R_S_L,R_S_R,R_M_L,R_M_R,R_E_L,R_E_R},
{FLT_S_L,FLT_S_R,FLT_M_L,FLT_M_R,FLT_E_L,FLT_E_R},
{FRT_S_L,FRT_S_R,FRT_M_L,FRT_M_R,FRT_E_L,FRT_E_R},
{BLT_S_L,BLT_S_R,BLT_M_L,BLT_M_R,BLT_E_L,BLT_E_R},
{BRT_S_L,BRT_S_R,BRT_M_L,BRT_M_R,BRT_E_L,BRT_E_R},
{FL_S_L,FL_S_R,FL_M_L,FL_M_R,FL_E_L,FL_E_R},
{FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
{BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
{BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
{fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_R_E,fst_F_L_E},
{fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
/* private functions */
uint8_t mtn_lib_full(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_stop==0x01)
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->end_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->end_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_end;
}
else
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_stop==0x01)
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->end_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->end_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_end;
}
else
{
if(mtn_lib_current_foot==left_foot)
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
}
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
uint8_t mtn_lib_left(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_current_foot==left_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_r);
state=wait_end;
}
else
{
action_set_page(pages->middle_r);
state=wait_middle;
}
mtn_lib_current_foot=right_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_current_foot==left_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_r);
state=wait_end;
}
else
{
action_set_page(pages->middle_r);
state=wait_middle;
}
mtn_lib_current_foot=right_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_l);
mtn_lib_current_foot=left_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
uint8_t mtn_lib_right(TPages *pages)
{
static full_states state=idle;
uint8_t done=0x00;
switch(state)
{
case idle: if(mtn_lib_start_foot==left_foot)
action_set_page(pages->start_l);
else
action_set_page(pages->start_r);
action_start_page();
mtn_lib_current_foot=mtn_lib_start_foot;
state=wait_start;
break;
case wait_start: if(is_action_running())
state=wait_start;
else
{
if(mtn_lib_current_foot==right_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_l);
state=wait_end;
}
else
{
action_set_page(pages->middle_l);
state=wait_middle;
}
mtn_lib_current_foot=left_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_middle: if(is_action_running())
state=wait_middle;
else
{
if(mtn_lib_current_foot==right_foot)
{
if(mtn_lib_stop==0x01)
{
action_set_page(pages->end_l);
state=wait_end;
}
else
{
action_set_page(pages->middle_l);
state=wait_middle;
}
mtn_lib_current_foot=left_foot;
action_start_page();
}
else
{
action_set_page(pages->middle_r);
mtn_lib_current_foot=right_foot;
action_start_page();
state=wait_middle;
}
}
break;
case wait_end: if(is_action_running())
state=wait_end;
else
{
mtn_lib_stop=0x00;
state=idle;
done=0x01;
}
break;
}
return done;
}
/* public functions */
void mtn_lib_init(void)
{
mtn_lib_stop=0x00;
mtn_lib_start_foot=left_foot;
mtn_lib_current_foot=left_foot;
}
void mtn_lib_stop_mtn(void)
{
mtn_lib_stop=0x01;
}
void mtn_lib_set_start_foot(foot_t foot)
{
mtn_lib_start_foot=foot;
}
uint8_t walk_forward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fwd]);
}
uint8_t walk_backward(void)
{
return mtn_lib_full(&mtn_pages[mtn_bwd]);
}
uint8_t turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_turn_left]);
}
uint8_t turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_turn_right]);
}
uint8_t walk_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_left]);
}
uint8_t walk_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_right]);
}
uint8_t walk_forward_turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_fwd_turn_left]);
}
uint8_t walk_forward_turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_fwd_turn_right]);
}
uint8_t walk_backward_turn_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_bwd_turn_left]);
}
uint8_t walk_backward_turn_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_bwd_turn_right]);
}
uint8_t walk_forward_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_fwd_left]);
}
uint8_t walk_forward_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_fwd_right]);
}
uint8_t walk_backward_left(void)
{
return mtn_lib_left(&mtn_pages[mtn_bwd_left]);
}
uint8_t walk_backward_right(void)
{
return mtn_lib_right(&mtn_pages[mtn_bwd_right]);
}
uint8_t fast_walk_forward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fast_fwd]);
}
uint8_t fast_walk_backward(void)
{
return mtn_lib_full(&mtn_pages[mtn_fast_bwd]);
}
uint8_t fast_turn_left(void)
{
return 1;
}
uint8_t fast_turn_right(void)
{
return 1;
}
uint8_t fast_walk_left(void)
{
return 1;
}
uint8_t fast_walk_right(void)
{
return 1;
}
uint8_t fast_walk_forward_turn_left(void)
{
return 1;
}
uint8_t fast_walk_forward_turn_right(void)
{
return 1;
}
uint8_t fast_walk_backward_turn_left(void)
{
return 1;
}
uint8_t fast_walk_backward_turn_right(void)
{
return 1;
}
examples/dexter/mtn_library.o deleted 100644 → 0
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File deleted
examples/stairs/Makefile
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− 2
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...@@ -2,7 +2,7 @@ PROJECT=stairs ...@@ -2,7 +2,7 @@ PROJECT=stairs
######################################################## ########################################################
# afegir tots els fitxers que s'han de compilar aquí # afegir tots els fitxers que s'han de compilar aquí
######################################################## ########################################################
SOURCES=stairs.c SOURCES=stairs.c ../mtn_library.c
OBJS=$(SOURCES:.c=.o) OBJS=$(SOURCES:.c=.o)
SRC_DIR=./ SRC_DIR=./
...@@ -16,7 +16,7 @@ MMCU=atmega2561 ...@@ -16,7 +16,7 @@ MMCU=atmega2561
LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include -I../movements
CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
......
examples/stairs/stairs.c
+ 164
− 86
View file @ 2c6062c2
...@@ -3,98 +3,89 @@ ...@@ -3,98 +3,89 @@
#include "cm510.h" #include "cm510.h"
#include "balance.h" #include "balance.h"
#include "exp_board.h" #include "exp_board.h"
#include "mtn_library.h"
typedef enum {wait_start,wait_ready,up_stairs} main_states; typedef enum {wait_start,wait_ready,walk_to_stairs1,wait_stop1,up_stairs1} main_states;
typedef enum {idle,delay1,wait_step1,delay2,wait_step2,delay3,wait_step3,delay4,wait_step4,wait_ready_up} stairs_up_states; typedef enum {up_idle,up_wait_stop,up_wait_step1,up_delay1,up_wait_step2,up_wait_step3,up_wait_step4,wait_ready_up} stairs_up_states;
typedef enum {down_idle,down_wait_stop,down_wait_step1,down_wait_step2,down_wait_step3,wait_ready_down} stairs_down_states;
uint8_t stairs_up_process(void) uint8_t stairs_up_process(void)
{ {
static stairs_up_states state=idle; static stairs_up_states state=up_idle;
uint8_t done=0x00; uint8_t done=0x00;
switch(state) switch(state)
{ {
case idle: user_time_set_one_time(1500); case up_idle: if(is_action_running())
state = delay1; {
break; action_stop_page();
case delay1: if(user_time_is_done()) state = up_wait_stop;
{ }
action_set_page(224); else
action_start_page(); {
state = wait_step1; action_set_page(227);
} action_start_page();
else state = up_wait_step1;
state = delay1; }
break; break;
case wait_step1: if(is_action_running()) case up_wait_stop: if(is_action_running())
state = wait_step1; state = up_wait_stop;
else else
{ {
user_time_set_one_time(1500); action_set_page(227);
state = delay2; action_start_page();
} state = up_wait_step1;
printf("step1\n"); }
break; break;
case delay2: if(user_time_is_done()) case up_wait_step1: if(is_action_running())
{ state = up_wait_step1;
action_set_page(225); else
action_start_page(); {
state = wait_step2; user_time_set_one_time(1500);
} state = up_delay1;
else }
state = delay2; break;
break; case up_delay1: if(user_time_is_done())
case wait_step2: if(is_action_running()) {
state = wait_step2; action_set_page(224);
else action_start_page();
{ state = up_wait_step2;
user_time_set_one_time(1500); }
state = delay3; else
} state = up_delay1;
printf("step2\n"); break;
break; case up_wait_step2: if(is_action_running())
case delay3: if(user_time_is_done()) state = up_wait_step2;
{ else
action_set_page(226); {
action_start_page(); action_set_page(225);
state = wait_step3; action_start_page();
} state = up_wait_step3;
else }
state = delay3; break;
break; case up_wait_step3: if(is_action_running())
case wait_step3: if(is_action_running()) state = up_wait_step3;
state = wait_step3; else
else {
{ action_set_page(226);
user_time_set_one_time(1500); action_start_page();
state = delay4; state = up_wait_step4;
} }
printf("step3\n"); break;
break; case up_wait_step4: if(is_action_running())
case delay4: if(user_time_is_done()) state = up_wait_step4;
{ else
action_set_page(226); {
action_start_page(); action_set_page(31);
state = wait_step4; action_start_page();
} state = wait_ready_up;
else }
state = delay4; break;
break;
case wait_step4: if(is_action_running())
state = wait_step4;
else
{
action_set_page(31);
action_start_page();
state = wait_ready;
}
printf("step4\n");
break;
case wait_ready_up: if(is_action_running()) case wait_ready_up: if(is_action_running())
state = wait_ready_up; state = wait_ready_up;
else else
{ {
state=idle; state=up_idle;
done=0x01; done=0x01;
} }
break; break;
...@@ -104,6 +95,74 @@ uint8_t stairs_up_process(void) ...@@ -104,6 +95,74 @@ uint8_t stairs_up_process(void)
} }
uint8_t stairs_down_process(void)
{
static stairs_down_states state=down_idle;
uint8_t done=0x00;
switch(state)
{
case down_idle: if(is_action_running())
{
action_stop_page();
state = down_wait_stop;
}
else
{
action_set_page(228);
action_start_page();
state = down_wait_step1;
}
break;
case down_wait_stop: if(is_action_running())
state = down_wait_stop;
else
{
action_set_page(228);
action_start_page();
state = down_wait_step1;
}
break;
case down_wait_step1: if(is_action_running())
state = down_wait_step1;
else
{
action_set_page(229);
action_start_page();
state = down_wait_step2;
}
break;
case down_wait_step2: if(is_action_running())
state = down_wait_step2;
else
{
action_set_page(230);
action_start_page();
state = down_wait_step3;
}
break;
case down_wait_step3: if(is_action_running())
state = down_wait_step3;
else
{
action_set_page(31);
action_start_page();
state = wait_ready_down;
}
break;
case wait_ready_down: if(is_action_running())
state = wait_ready_down;
else
{
state=down_idle;
done=0x01;
}
break;
}
return done;
}
void user_init(void) void user_init(void)
{ {
serial_console_init(57600); serial_console_init(57600);
...@@ -111,6 +170,7 @@ void user_init(void) ...@@ -111,6 +170,7 @@ void user_init(void)
balance_calibrate_gyro(); balance_calibrate_gyro();
balance_enable_gyro(); balance_enable_gyro();
user_time_set_period(100); user_time_set_period(100);
mtn_lib_init();
} }
void user_loop(void) void user_loop(void)
...@@ -131,12 +191,30 @@ void user_loop(void) ...@@ -131,12 +191,30 @@ void user_loop(void)
case wait_ready: if(is_action_running()) case wait_ready: if(is_action_running())
state=wait_ready; state=wait_ready;
else else
state=up_stairs; {
walk_forward();
state=walk_to_stairs1;
}
break;
case walk_to_stairs1: if(exp_gpio_get_value(GPIO0) || exp_gpio_get_value(GPIO3))
{
mtn_lib_stop_mtn();
state=wait_stop1;
}
else
state=walk_to_stairs1;
walk_forward();
break;
case wait_stop1: if(walk_forward())
state=up_stairs1;
else
state=wait_stop1;
break;
case up_stairs1: if(stairs_up_process())
state=wait_start;
else
state=up_stairs1;
break; break;
case up_stairs: if(stairs_up_process())
state=wait_start;
else
state=up_stairs;
break;
} }
} }
motion/include/action_id.h
+ 4
− 2
View file @ 2c6062c2
...@@ -129,7 +129,9 @@ ...@@ -129,7 +129,9 @@
#define stairs_up_1 224 #define stairs_up_1 224
#define stairs_up_2 225 #define stairs_up_2 225
#define stairs_up_3 226 #define stairs_up_3 226
#define stairs_up_4 227 #define Init 227
#define stairs_down 228 #define stairs_down1 228
#define stairs_down2 229
#define stairs_down3 230
#endif #endif
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