/**
* \brief This function runs pd_control on motor position.
* \param device0 robot_device struct defined in DS0.h
* \param currParams param_pass struct defined in DS1.h
* \return -1 if Pedal is up and 0 when torque is applied to DAC
*
* This function:
* 1. calls the r2_inv_kin() to calculate the inverse kinematics
* 2. call the invCableCoupling() to calculate the inverse cable coupling
* 3. set all the joints to zero if pedal is not down otherwise it calls mpos_PD_control() to run the PD control law
* 4. calls getGravityTorque() to calulate gravity torques on each joints.
* 5. calls TorqueToDAC() to apply write torque value's on DAC
*
*/
int raven_cartesian_space_command(struct device *device0, struct param_pass *currParams){
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0,j=0;
if (currParams->runlevel < RL_PEDAL_UP)
{
return -1;
}
else if (currParams->runlevel < RL_PEDAL_DN)
{
set_posd_to_pos(device0);
updateMasterRelativeOrigin(device0);
}
parport_out(0x01);
//Inverse kinematics
r2_inv_kin(device0, currParams->runlevel);
//Inverse Cable Coupling
invCableCoupling(device0, currParams->runlevel);
// Set all joints to zero torque
_mech = NULL; _joint = NULL;
while (loop_over_joints(device0, _mech, _joint, i,j) )
{
if (currParams->runlevel != RL_PEDAL_DN)
{
_joint->tau_d=0;
}
else
{
mpos_PD_control(_joint);
}
}
// Gravity compensation calculation
getGravityTorque(*device0, *currParams);
_mech = NULL; _joint = NULL;
while ( loop_over_joints(device0, _mech, _joint, i,j) )
{
_joint->tau_d += _joint->tau_g; // Add gravity torque
}
TorqueToDAC(device0);
return 0;
}
/**
* set_joints_known_pos()
*
* Set all the mechanism joints to known reference angles.
* Propogate the joint angle to motor position and encoder offset.
*/
int set_joints_known_pos(struct mechanism* _mech, int tool_only)
{
struct DOF* _joint=NULL;
int j=0;
/// Set joint position reference for just tools, or all DOFS
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
if ( tool_only && ! is_toolDOF( _joint->type)) {
// Set jpos_d to the joint limit value.
_joint->jpos_d = DOF_types[ _joint->type ].home_position;
} else if (!tool_only && is_toolDOF(_joint->type) ) {
_joint->jpos_d = _joint->jpos;
} else {
// Set jpos_d to the joint limit value.
_joint->jpos_d = DOF_types[ _joint->type ].max_position;
// Initialize a trajectory to operating angle
_joint->state = jstate_homing1;
}
}
/// Inverse cable coupling: jpos_d ---> mpos_d
invMechCableCoupling(_mech, 1);
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
// Reset the state-estimate filter
_joint->mpos = _joint->mpos_d;
resetFilter( _joint );
// Convert the motor position to an encoder offset.
// mpos = k * (enc_val - enc_offset) ---> enc_offset = enc_val - mpos/k
float f_enc_val = _joint->enc_val;
// Encoder values on Gold arm are reversed. See also state_machine.cpp
if ( _mech->type == GOLD_ARM)
f_enc_val *= -1.0;
/// Set the joint offset in encoder space.
float cc = ENC_CNTS_PER_REV / (2*M_PI);
_joint->enc_offset = f_enc_val - (_joint->mpos_d * cc);
getStateLPF(_joint);
}
fwdMechCableCoupling(_mech);
return 0;
}
/**
* clearDACs() - sets DACs to 0V
*
* input: buffer_out
* \param device0 pointer to device structure
*/
void clearDACs(struct device *device0)
{
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0, j=0;
//Set all encoder values to no movement
while (loop_over_joints(device0, _mech, _joint, i,j) ) {
_joint->current_cmd = 0;
}
}
int robot_ready(struct robot_device* device0)
{
struct mechanism* _mech = NULL;
struct DOF* _joint = NULL;
int i, j;
while ( loop_over_joints(device0, _mech, _joint, i, j) )
{
if (disable_arm_id[armIdFromMechType(_mech->type)]) {
continue;
}
if (_joint->state != jstate_ready)
return 0;
}
return 1;
}
/**
* TorqueToDAC() - Converts desired torque on each joint to desired DAC level
*
* Precondition - tau_d has been set for each joint
*
* Postcondition - current_cmd is set for each joint
* \param device0 pointer to device structure
*
*/
int TorqueToDAC(struct device *device0)
{
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0, j=0;
// for each arm
while (loop_over_joints(device0, _mech, _joint, i,j) ) {
if (_joint->type == NO_CONNECTION_GOLD || _joint->type == NO_CONNECTION_GREEN)
continue;
_joint->current_cmd = tToDACVal( _joint ); // Convert torque to DAC value
if ( soft_estopped )
_joint->current_cmd = 0;
}
return 0;
}
int TorqueToDACTest(struct device *device0)
{
static int count;
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0, j=0;
static unsigned int output=0x4000;
if (output < 0x8000)
output = 0xa000;
else
output = 0x6000;
// for each arm
count++;
while (loop_over_joints(device0, _mech, _joint, i,j) ) {
_joint->current_cmd = output;
}
return 0;
}
/**
* raven_homing()
*
* This function is called 1000 times per second during INIT mode
*
* \param device0 Which (top level) device to home (usually only one device per system)
* \param currParams Current parameters (for Run Level)
* \param begin_homing Flag to start the homing process
* \ingroup Control
*
* \brief Move to hard stops in controled way, "zero" the joint value, and then move to "home" position
*
* This function operates in two phases:
* -# Discover joint position by running to hard stop. Using PD control (I term zero'd) we move the joint at a smooth rate until
* current increases which indicates hitting hard mechanical stop.
* -# Move joints to "home" position. In this phase the robot moves from the joint limits to a designated pose in the center of the workspace.
* \todo Homing limits should be Amps not DAC units (see homing() ).
* \todo Eliminate or comment out Enders Game code!!
*/
int raven_homing(struct device *device0, struct param_pass *currParams, int begin_homing)
{
static int homing_inited = 0;
static unsigned long int delay, delay2;
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0,j=0;
// Only run in init mode
if ( ! (currParams->runlevel == RL_INIT && currParams->sublevel == SL_AUTO_INIT ))
{
homing_inited = 0;
delay = gTime;
return 0; // return if we are in the WRONG run level (PLC state)
}
// Wait a short time for amps to turn on
if (gTime - delay < 1000)
{
return 0;
}
// Initialize the homing sequence.
if (begin_homing || !homing_inited) // only do this the first time through
{
// Zero out joint torques, and control inputs. Set joint.state=not_ready.
_mech = NULL; _joint = NULL;
while (loop_over_joints(device0, _mech, _joint, i,j) ) // foreach (joint)
{
_joint->tau_d = 0;
_joint->mpos_d = _joint->mpos;
_joint->jpos_d = _joint->jpos;
_joint->jvel_d = 0;
_joint->state = jstate_not_ready;
if (is_toolDOF(_joint))
jvel_PI_control(_joint, 1); // reset PI control integral term
homing_inited = 1;
}
log_msg("Homing sequence initialized");
}
// Specify motion commands
_mech = NULL; _joint = NULL;
while ( loop_over_joints(device0, _mech, _joint, i,j) )
{
// Initialize tools first.
if ( is_toolDOF(_joint) || tools_ready( &(device0->mech[i]) ) )
{
homing(_joint);
}
}
//Inverse Cable Coupling
invCableCoupling(device0, currParams->runlevel);
// Do PD control on all joints
_mech = NULL; _joint = NULL;
while ( loop_over_joints(device0, _mech, _joint, i,j) )
{
mpos_PD_control( _joint );
}
// Calculate output DAC values
TorqueToDAC(device0);
// Check homing conditions and set joint angles appropriately.
_mech = NULL; _joint = NULL;
while ( loop_over_joints(device0, _mech, _joint, i,j) )
{
struct DOF * _joint = &(_mech->joint[j]); ///\todo is this line necessary?
// Check to see if we've reached the joint limit.
if( check_homing_condition(_joint) )
{
log_msg("Found limit on joint %d cmd: %d \t", _joint->type, _joint->current_cmd, DOF_types[_joint->type].DAC_max);
_joint->state = jstate_hard_stop;
_joint->current_cmd = 0;
stop_trajectory(_joint);
log_msg("joint %d checked ",j);
}
// For each mechanism, check to see if the mech is finished homing.
if ( j == (MAX_DOF_PER_MECH-1) )
{
/// if we're homing tools, wait for tools to be finished
if (( !tools_ready(_mech) &&
_mech->joint[TOOL_ROT].state==jstate_hard_stop &&
_mech->joint[WRIST ].state==jstate_hard_stop &&
_mech->joint[GRASP1 ].state==jstate_hard_stop )
||
( tools_ready( _mech ) &&
_mech->joint[SHOULDER].state==jstate_hard_stop &&
_mech->joint[ELBOW ].state==jstate_hard_stop &&
_mech->joint[Z_INS ].state==jstate_hard_stop ))
{
if (delay2==0)
delay2=gTime;
if (gTime > delay2 + 200) // wait 200 ticks for cables to settle down
{
set_joints_known_pos(_mech, !tools_ready(_mech) ); // perform second phase
delay2 = 0;
}
}
}
}
return 0;
}
/**
* set_joints_known_pos()
*
* \param _mech which mechanism (gold/green)
* \param tool_only flag which initializes only the tool/wrist joints
*
* \brief Set joint angles to known values after hard stops are reached.
*
* Set all the mechanism joints to known reference angles.
* Propagate the joint angle to motor position and encoder offset.
*
* \todo Rationalize the sign changes on GREEN_ARM vs GOLD_ARM (see IFDEF below).
* \todo This MAYBE needs to be changed to support device specific parameter changes read from a config file or ROS service.
* \ingroup Control
*/
int set_joints_known_pos(struct mechanism* _mech, int tool_only)
{
struct DOF* _joint=NULL;
int j=0;
// int offset = 0;
// if (_mech->type == GREEN_ARM) offset = 8;
/// Set joint position reference for just tools, or all DOFS
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
// when tool joints finish, set positioning joints to neutral
if ( tool_only && ! is_toolDOF( _joint->type))
{
// Set jpos_d to the joint limit value.
_joint->jpos_d = DOF_types[ _joint->type ].home_position; // keep non tool joints from moving
}
// when positioning joints finish, set tool joints to nothing special
else if (!tool_only && is_toolDOF(_joint->type) )
{
_joint->jpos_d = _joint->jpos;
}
// when tool or positioning joints finish, set them to max_angle
else
{
// Set jpos_d to the joint limit value.
_joint->jpos_d = DOF_types[ _joint->type ].max_position;
// Initialize a trajectory to operating angle
_joint->state = jstate_homing1;
}
}
/// Inverse cable coupling: jpos_d ---> mpos_d
// use_actual flag triggered for insertion axis
invMechCableCoupling(_mech, 1);
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
// Reset the state-estimate filter
_joint->mpos = _joint->mpos_d;
resetFilter( _joint );
// Convert the motor position to an encoder offset.
// mpos = k * (enc_val - enc_offset) ---> enc_offset = enc_val - mpos/k
float f_enc_val = _joint->enc_val;
// Encoder values on Gold arm are reversed. See also state_machine.cpp
switch (_mech->tool_type)
{
case dv_adapter:
if ( _mech->type == GOLD_ARM && !is_toolDOF(_joint))
f_enc_val *= -1.0;
break;
case RII_square_type:
//Green arm tools are also reversed with square pattern
if (( _mech->type == GOLD_ARM && !is_toolDOF(_joint) ) ||
( _mech->type == GREEN_ARM && is_toolDOF(_joint) ))
f_enc_val *= -1.0;
break;
default:
if ( _mech->type == GOLD_ARM || is_toolDOF(_joint) )
f_enc_val *= -1.0;
break;
//Needs a true default/error state
}
/// Set the joint offset in encoder space.
float cc = ENC_CNTS_PER_REV / (2*M_PI);
_joint->enc_offset = f_enc_val - (_joint->mpos_d * cc);
getStateLPF(_joint, _mech->tool_type);
}
fwdMechCableCoupling(_mech);
return 0;
}
/**
* \fn int set_joints_known_pos(struct mechanism* _mech, int tool_only)
*
* \brief Set joint angles to known values after hard stops are reached.
*
* \desc Set all the mechanism joints to known reference angles.
* Propagate the joint angle to motor position and encoder offset.
*
* \param _mech which mechanism (gold/green)
* \param tool_only flag which initializes only the tool/wrist joints
*
* \ingroup Control
*
* \return 0
*
* \todo Rationalize the sign changes on GREEN_ARM vs GOLD_ARM (see IFDEF below).
* \todo This MAYBE needs to be changed to support device specific parameter changes read from a config file or ROS service.
*/
int set_joints_known_pos(struct mechanism* _mech, int tool_only)
{
struct DOF* _joint=NULL;
int j=0;
int scissor = ((_mech->mech_tool.t_end == mopocu_scissor) || (_mech->mech_tool.t_end == potts_scissor))? 1 : 0;
// int offset = 0;
// if (_mech->type == GREEN_ARM) offset = 8;
/// Set joint position reference for just tools, or all DOFS
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
// when tool joints finish, set positioning joints to neutral
if ( tool_only && ! is_toolDOF( _joint->type))
{
// Set jpos_d to the joint limit value.
_joint->jpos_d = DOF_types[ _joint->type ].home_position; // keep non tool joints from moving
}
// when positioning joints finish, set tool joints to nothing special
else if (!tool_only && is_toolDOF(_joint->type) )
{
_joint->jpos_d = _joint->jpos;
}
// when tool or positioning joints finish, set them to max_angle
else {
// Set jpos_d to the joint limit value.
if (scissor && ((_joint->type == GRASP2_GREEN) || (_joint->type == GRASP2_GOLD))){
_joint->jpos_d = _mech->mech_tool.grasp2_min_angle;
log_msg("setting grasp 2 to arm %d, joint %d to value %f", _mech->mech_tool.mech_type, _joint->type, _joint->jpos_d);
}
else
_joint->jpos_d = DOF_types[_joint->type].max_position;
// Initialize a trajectory to operating angle
_joint->state = jstate_homing1;
}
}
/// Inverse cable coupling: jpos_d ---> mpos_d
// use_actual flag triggered for insertion axis
invMechCableCoupling(_mech, 1);
_joint = NULL;
while ( loop_over_joints(_mech, _joint ,j) )
{
// Reset the state-estimate filter
_joint->mpos = _joint->mpos_d;
resetFilter( _joint );
// Convert the motor position to an encoder offset.
// mpos = k * (enc_val - enc_offset) ---> enc_offset = enc_val - mpos/k
float f_enc_val = _joint->enc_val;
// Encoder values on Gold arm are reversed. See also state_machine.cpp
switch (_mech->mech_tool.t_style){
case dv:
if ( _mech->type == GOLD_ARM && !is_toolDOF(_joint))
f_enc_val *= -1.0;
break;
case square_raven:
if ( ( _mech->type == GOLD_ARM && !is_toolDOF(_joint) )
||
( _mech->type == GREEN_ARM && is_toolDOF(_joint) ) //Green arm tools are also reversed with square pattern
)
f_enc_val *= -1.0;
break;
default:
if ( _mech->type == GOLD_ARM || is_toolDOF(_joint) )
f_enc_val *= -1.0;
break;
}
#ifdef OPPOSE_GRIP
if (j == GRASP1){
f_enc_val *= -1;// switch encoder value for opposed grasp
// static int twice = 0;
// if (twice < 2){
// log_msg("homing enc_val swapped");
// twice++;
}
#endif
/// Set the joint offset in encoder space.
float cc = ENC_CNTS_PER_REV / (2*M_PI);
_joint->enc_offset = f_enc_val - (_joint->mpos_d * cc);
getStateLPF(_joint, _mech->tool_type);
//getStateLPF(_joint, _mech->mech_tool.t_style);
}
fwdMechCableCoupling(_mech);
return 0;
}
/**
* \brief Implements control for one loop cycle.
*
* \post encoders values have been read, runlevel has been set
* \pre robot state is reflected in device0, DAC outputs are set in device0
*
* \brief This funtion controls the Raven based on the desired control mode.
* \param device0 robot_device struct defined in DS0.h
* \param currParam param_pass struct defined in DS1.h
*
* This function first initializes the robot and then it computes Mpos and Velocities by calling
* stateEstimate() and then it calls fwdCableCoupling() and r2_fwd_kin() to calculate the forward cable coupling
* inverse kinematics respectively.
* The following types of control can be selected from the control mode:
* -No control
* -Cartesian Space Control
* -Motor PD Control
* -Joint Velocity Control
* -Homing mode
* -Applying arbitrary torque
*
*/
int controlRaven(struct device *device0, struct param_pass *currParams){
int ret = 0;
//Desired control mode
t_controlmode controlmode = (t_controlmode)currParams->robotControlMode;
//Initialization code
initRobotData(device0, currParams->runlevel, currParams);
//Compute Mpos & Velocities
stateEstimate(device0);
//Foward Cable Coupling
fwdCableCoupling(device0, currParams->runlevel);
//Forward kinematics
r2_fwd_kin(device0, currParams->runlevel);
switch (controlmode){
//CHECK ME: what is the purpose of this mode?
case no_control:
{
initialized = false;
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0,j=0;
// Gravity compensation calculation
getGravityTorque(*device0, *currParams);
while ( loop_over_joints(device0, _mech, _joint, i,j) )
_joint->tau_d = _joint->tau_g; // Add gravity torque
TorqueToDAC(device0);
break;
}
//Cartesian Space Control is called to control the robot in cartesian space
case cartesian_space_control:
ret = raven_cartesian_space_command(device0,currParams);
break;
//Motor PD control runs PD control on motor position
case motor_pd_control:
initialized = false;
ret = raven_motor_position_control(device0,currParams);
break;
//Runs joint velocity control
case joint_velocity_control:
initialized = false;
ret = raven_joint_velocity_control(device0, currParams);
break;
//Runs homing mode
case homing_mode:
static int hom = 0;
if (hom==0){
log_msg("Entered homing mode");
hom = 1;
}
initialized = false;
//initialized = robot_ready(device0) ? true:false;
ret = raven_homing(device0, currParams);
set_posd_to_pos(device0);
updateMasterRelativeOrigin(device0);
if (robot_ready(device0))
{
currParams->robotControlMode = cartesian_space_control;
newRobotControlMode = cartesian_space_control;
}
break;
//Runs applyTorque() to set torque command (tau_d) to a joint for debugging purposes
case apply_arbitrary_torque:
initialized = false;
ret = applyTorque(device0, currParams);
break;
//Apply sinusoidal trajectory to all joints
case multi_dof_sinusoid:
initialized = false;
ret = raven_sinusoidal_joint_motion(device0, currParams);
break;
default:
ROS_ERROR("Error: unknown control mode in controlRaven (rt_raven.cpp)");
ret = -1;
break;
}
return ret;
}
/**\
* \brief This function runs PD control on motor position
* \param device0 is robot_device struct defined in DS0.h
* \param currParams is param_pass struct defined in DS1.h
* \return 0
*
* This function:
* 1. checks to see if it's in pedal down mode, if not it sets all joints to zero torque and return 0
* 2. set trajectory on all joints
* 3. calls invCableCoupling() to calculate inverse cable coupling
* 4. calls mpos_PD_control() to perform PD control
* 5. calls TorqueToDac() to apply torque on DAC
*/
int raven_motor_position_control(struct device *device0, struct param_pass *currParams)
{
static int controlStart = 0;
static unsigned long int delay=0;
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0,j=0;
// If we're not in pedal down or init.init then do nothing.
if (! ( currParams->runlevel == RL_PEDAL_DN ||
( currParams->runlevel == RL_INIT && currParams->sublevel == SL_AUTO_INIT ))
)
{
controlStart = 0;
delay = gTime;
// Set all joints to zero torque, and mpos_d = mpos
_mech = NULL; _joint = NULL;
while (loop_over_joints(device0, _mech, _joint, i,j) )
{
_joint->mpos_d = _joint->mpos;
_joint->tau_d = 0;
}
return 0;
}
if (gTime - delay < 800)
return 0;
// Set trajectory on all the joints
_mech = NULL; _joint = NULL;
while (loop_over_joints(device0, _mech, _joint, i,j) )
{
if ( _joint->type == SHOULDER_GOLD || _joint->type == ELBOW_GOLD )
_joint->jpos_d = _joint->jpos;
if (!controlStart)
_joint->jpos_d = _joint->jpos;
}
//Inverse Cable Coupling
invCableCoupling(device0, currParams->runlevel);
// Do PD control on all the joints
_mech = NULL; _joint = NULL;
while (loop_over_joints(device0, _mech, _joint, i,j) )
{
// Do PD control
mpos_PD_control(_joint);
if (_joint->type < Z_INS_GOLD)
_joint->tau_d=0;
else if (gTime % 500 == 0 && _joint->type == Z_INS_GOLD)
log_msg("zp: %f, \t zp_d: %f, \t mp: %f, \t mp_d:%f", _joint->jpos, _joint->jpos_d, _joint->mpos, _joint->mpos_d);
}
TorqueToDAC(device0);
controlStart = 1;
return 0;
}
