/** * \fn int raven_homing(struct device *device0, struct param_pass *currParams, int begin_homing) * * \brief Move to hard stops in controlled way, "zero" the joint value, and then move to "home" position * * \desc This function is called 1000 times per second during INIT mode * 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. * * \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 * * \return 0 * * \todo Homing limits should be Amps not DAC units (see homing()). */ 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; #ifdef RICKS_TOOLS // Refers to Enders Game Prop manager!! // these were wooden dummy tools for the movie. _mech = NULL; _joint = NULL; while (loop_over_joints(device0, _mech, _joint, i,j) ) { if (is_toolDOF(_joint)) { _joint->state = jstate_ready; } } #endif // 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)){ homing(_joint, device0->mech[i].mech_tool); } else if(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; }
/* * raven_homing() * 1- Discover joint position by running to hard stop * 2- Move joints to "home" position. * */ 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; } // Wait a short time for amps to turn on if (gTime - delay < 1000) { return 0; } // Initialize the homing sequence. if (begin_homing || !homing_inited) { // 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) ) { _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; } } // 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]); // Check to see if we've reached the joint limit. if( check_homing_condition(_joint) ) { log_msg("Found limit on joint %s", jointIndexAndArmName(_joint->type).c_str(), _joint->current_cmd, DOF_types[_joint->type].DAC_max); _joint->state = jstate_hard_stop; _joint->current_cmd = 0; stop_trajectory(_joint); } // 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 bool ready = ( !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 (ready) { if (delay2==0) { delay2=gTime; } if (gTime > delay2 + 200) { set_joints_known_pos(_mech, !tools_ready(_mech) ); delay2 = 0; } } } } saveOffsets(*device0); return 0; }