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2 Commits
| Author | SHA1 | Date |
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Gabri6
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96b584abfc | |
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Gabri6
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83ee7d0e71 |
207
main.cpp
207
main.cpp
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@ -1,7 +1,11 @@
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#include <iostream>
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#include <chrono>
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#include <thread>
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//#include<windows.h>//for windows
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#include<unistd.h>//for linux
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#include "DynamixelHandler.h"
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#include <array>
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// Global variables
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DynamixelHandler _oDxlHandler;
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@ -17,6 +21,10 @@ int _targetJointTorqueGripper = 1140;
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float _proportionnalIncrement = 0.025f;
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float _proportionnalIncrementAbove = 0.01f;
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float _threshold= 1.9;
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std::array<std::array<short unsigned int, 6>,9> notes_position = {{{1, 2, 3, 4, 5, 6}, {2, 2, 3, 4, 5, 6}, {3, 2, 3, 4, 5, 6}, {4, 2, 3, 4, 5, 6}, {5, 2, 3, 4, 5, 6}, {6, 2, 3, 4, 5, 6}, {7, 2, 3, 4, 5, 6}, {8, 2, 3, 4, 5, 6}, {9, 2, 3, 4, 5, 6}}};
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//short unsigned int notes_position[54] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54};
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std::array<short unsigned int, 6> playingPosition = {{511, 310, 485, 515, 665, 592}};
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int convertAnglesToJointCmd(float fJointAngle)
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{ // y = ax + b
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@ -46,28 +54,78 @@ void goToPlayingPosition()
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{
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std::vector<uint16_t> l_vTargetJointPosition;
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(90.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-45.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(45.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(35.0f)); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
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_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
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}
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void currentPos()
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std::array<short unsigned int,6> currentPos()
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{
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std::array<short unsigned int, 6> myPosition = {{0, 1, 2, 3, 4, 5}};
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// read current joint position
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std::vector<uint16_t> l_vCurrentJointPosition;
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_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
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//store current joint position to return it
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for (int l_joint=0; l_joint < myPosition.size(); l_joint++)
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{
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myPosition[l_joint] = l_vCurrentJointPosition[l_joint];
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}
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// display current joint position
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//std::cout << "vCurrentJointPosition= (";
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//for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
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// std::cout << l_vCurrentJointPosition[l_joint] << ", ";
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//std::cout << ")" << std::endl;
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std::cout << "vCurrentJointPosition= (";
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for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
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std::cout << l_vCurrentJointPosition[l_joint] << ", ";
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std::cout << ")" << std::endl;
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return myPosition;
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}
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int gripperControl()
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void teachTarget()
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{
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_oDxlHandler.enableTorque(false);
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std::cout<<"===Disabling Torque==="<<std::endl;
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int noteNumber = 333;
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std::cout << "enter 555 when all the notes have been taught\n";
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std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
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std::cin >> noteNumber;
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while(noteNumber != 555)
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{
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// read current joint position
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std::vector<uint16_t> l_vCurrentJointPosition;
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_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
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for (int l_joint=0; l_joint < notes_position[noteNumber].size(); l_joint++)
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{
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notes_position[noteNumber][l_joint] = l_vCurrentJointPosition[l_joint];
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std::cout<<notes_position[noteNumber][l_joint]<<", ";
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std::cout<<noteNumber << ", ";
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}
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currentPos(); //print position
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std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
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std::cin >> noteNumber;
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while (noteNumber < 0 or (noteNumber > 9 and noteNumber != 555)) // test if the input is good
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{
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std::cout << "wrong number: enter note number (between 0 and 9), or exit with 555:\n";
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std::cin >> noteNumber;
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}
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}
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_oDxlHandler.enableTorque(true); //gives Hardware error
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std::cout<<"===Enabling Torque==="<<std::endl;
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return ;
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}
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int closeGripper()
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{
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//read current joint 6 torque
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std::vector<uint16_t> l_vCurrentJointTorque;
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@ -135,8 +193,96 @@ int gripperControl()
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return (int)joint6Torque;
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}
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//mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
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void playNote(int myNote)
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{
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goToPlayingPosition();
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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std::vector<uint16_t> l_vTargetJointPosition;
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switch(myNote){
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case 1:
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l_vTargetJointPosition.push_back(notes_position[0][0]);
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l_vTargetJointPosition.push_back(notes_position[0][1]);
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l_vTargetJointPosition.push_back(notes_position[0][2]);
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l_vTargetJointPosition.push_back(notes_position[0][3]);
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l_vTargetJointPosition.push_back(notes_position[0][4]);
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break;
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case 2:
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l_vTargetJointPosition.push_back(notes_position[1][0]);
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l_vTargetJointPosition.push_back(notes_position[1][1]);
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l_vTargetJointPosition.push_back(notes_position[1][2]);
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l_vTargetJointPosition.push_back(notes_position[1][3]);
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l_vTargetJointPosition.push_back(notes_position[1][4]);
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break;
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case 3:
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l_vTargetJointPosition.push_back(notes_position[2][0]);
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l_vTargetJointPosition.push_back(notes_position[2][1]);
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l_vTargetJointPosition.push_back(notes_position[2][2]);
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l_vTargetJointPosition.push_back(notes_position[2][3]);
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l_vTargetJointPosition.push_back(notes_position[2][4]);
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break;
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case 4:
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l_vTargetJointPosition.push_back(notes_position[3][0]);
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l_vTargetJointPosition.push_back(notes_position[3][1]);
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l_vTargetJointPosition.push_back(notes_position[3][2]);
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l_vTargetJointPosition.push_back(notes_position[3][3]);
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l_vTargetJointPosition.push_back(notes_position[3][4]);
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break;
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case 5:
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l_vTargetJointPosition.push_back(notes_position[4][0]);
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l_vTargetJointPosition.push_back(notes_position[4][1]);
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l_vTargetJointPosition.push_back(notes_position[4][2]);
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l_vTargetJointPosition.push_back(notes_position[4][3]);
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l_vTargetJointPosition.push_back(notes_position[4][4]);
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break;
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case 6:
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l_vTargetJointPosition.push_back(notes_position[5][0]);
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l_vTargetJointPosition.push_back(notes_position[5][1]);
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l_vTargetJointPosition.push_back(notes_position[5][2]);
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l_vTargetJointPosition.push_back(notes_position[5][3]);
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l_vTargetJointPosition.push_back(notes_position[5][4]);
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break;
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case 7:
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l_vTargetJointPosition.push_back(notes_position[6][0]);
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l_vTargetJointPosition.push_back(notes_position[6][1]);
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l_vTargetJointPosition.push_back(notes_position[6][2]);
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l_vTargetJointPosition.push_back(notes_position[6][3]);
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l_vTargetJointPosition.push_back(notes_position[6][4]);
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break;
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case 8:
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l_vTargetJointPosition.push_back(notes_position[7][0]);
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l_vTargetJointPosition.push_back(notes_position[7][1]);
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l_vTargetJointPosition.push_back(notes_position[7][2]);
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l_vTargetJointPosition.push_back(notes_position[7][3]);
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l_vTargetJointPosition.push_back(notes_position[7][4]);
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break;
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case 9:
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l_vTargetJointPosition.push_back(notes_position[8][0]);
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l_vTargetJointPosition.push_back(notes_position[8][1]);
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l_vTargetJointPosition.push_back(notes_position[8][2]);
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l_vTargetJointPosition.push_back(notes_position[8][3]);
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l_vTargetJointPosition.push_back(notes_position[8][4]);
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break;
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default:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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break;
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}
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(35.0f)); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
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_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
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sleep(1); //time period in seconds
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}
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void playMultipleNotes(std::string myMusic)
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{
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for (char& c : myMusic)
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{
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std::cout<<c<<std::endl;
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playNote((c - '0')+1);
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}
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}
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int main()
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{
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@ -148,15 +294,52 @@ int main()
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_oDxlHandler.enableTorque(true);
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std::cout << std::endl;
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currentPos();
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std::cout<<"===Initalization of the position==="<<std::endl;
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std::array<short unsigned int, 6> myPosition = currentPos(); //check position, to add a test later
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goToPlayingPosition();
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std::cout<<"===Going to playing position==="<<std::endl;
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currentPos();
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std::cout<<"===Position: OK==="<<std::endl;
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int gripperTorque = gripperControl();
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//int gripperTorque = closeGripper();
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goToPlayingPosition();
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currentPos();
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teachTarget();
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std::string myMusic = "";
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std::cout<<" "<<std::endl;
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std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
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std::cout<<"Write 'stop' to stop"<<std::endl;
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std::cin >> myMusic;
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while (myMusic != "stop")
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{
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if (myMusic == "home")
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{
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goToHomePosition();
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std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
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std::cout<<"Write 'stop' to stop"<<std::endl;
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std::cin >> myMusic;
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}
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else if (myMusic == "start")
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{
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goToPlayingPosition();
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std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
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std::cout<<"Write 'stop' to stop"<<std::endl;
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std::cin >> myMusic;
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}
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else
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{
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playMultipleNotes(myMusic);
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std::cout<<" "<<std::endl;
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std::cout<<"Write the notes you want to play (from 0 to 8), without spaces between them"<<std::endl;
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std::cout<<"Write 'stop' to stop"<<std::endl;
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std::cin >> myMusic;
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}
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}
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goToPlayingPosition();
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// wait 1s
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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