diff --git a/assembly_instructions.pdf b/Assembly/assembly_instructions.pdf similarity index 100% rename from assembly_instructions.pdf rename to Assembly/assembly_instructions.pdf diff --git a/MiniRHex.pdf b/MiniRHex.pdf deleted file mode 100644 index 5e48697..0000000 Binary files a/MiniRHex.pdf and /dev/null differ diff --git a/MiniRHex.ino b/MiniRHex/MiniRHex.ino similarity index 100% rename from MiniRHex.ino rename to MiniRHex/MiniRHex.ino diff --git a/control_parameters.cpp b/MiniRHex/control_parameters.cpp similarity index 100% rename from control_parameters.cpp rename to MiniRHex/control_parameters.cpp diff --git a/control_parameters.h b/MiniRHex/control_parameters.h similarity index 100% rename from control_parameters.h rename to MiniRHex/control_parameters.h diff --git a/conversions.cpp b/MiniRHex/conversions.cpp similarity index 100% rename from conversions.cpp rename to MiniRHex/conversions.cpp diff --git a/conversions.h b/MiniRHex/conversions.h similarity index 100% rename from conversions.h rename to MiniRHex/conversions.h diff --git a/desired_values.cpp b/MiniRHex/desired_values.cpp similarity index 100% rename from desired_values.cpp rename to MiniRHex/desired_values.cpp diff --git a/desired_values.h b/MiniRHex/desired_values.h similarity index 100% rename from desired_values.h rename to MiniRHex/desired_values.h diff --git a/gait_parameters.cpp b/MiniRHex/gait_parameters.cpp similarity index 100% rename from gait_parameters.cpp rename to MiniRHex/gait_parameters.cpp diff --git a/gait_parameters.h b/MiniRHex/gait_parameters.h similarity index 100% rename from gait_parameters.h rename to MiniRHex/gait_parameters.h diff --git a/leg_info.cpp b/MiniRHex/leg_info.cpp similarity index 100% rename from leg_info.cpp rename to MiniRHex/leg_info.cpp diff --git a/leg_info.h b/MiniRHex/leg_info.h similarity index 100% rename from leg_info.h rename to MiniRHex/leg_info.h diff --git a/pd_control.cpp b/MiniRHex/pd_control.cpp similarity index 100% rename from pd_control.cpp rename to MiniRHex/pd_control.cpp diff --git a/pd_control.h b/MiniRHex/pd_control.h similarity index 100% rename from pd_control.h rename to MiniRHex/pd_control.h diff --git a/MiniRHex_Design_Review.pptx b/MiniRHex_Design_Review.pptx deleted file mode 100644 index 47119ec..0000000 Binary files a/MiniRHex_Design_Review.pptx and /dev/null differ diff --git a/Optimization/MiniRHex_gaitOpt.ino b/Optimization/MiniRHex_gaitOpt.ino deleted file mode 100644 index 714f01f..0000000 --- a/Optimization/MiniRHex_gaitOpt.ino +++ /dev/null @@ -1,337 +0,0 @@ -#include "leg_info.h" -#include "control_parameters.h" -#include "desired_values.h" -#include "conversions.h" -#include "pd_control.h" -#include "gait_parameters.h" -#include -#include - -// Dynamixel Setup // -#define DXL_BUS_SERIAL1 1 //Dynamixel on Serial1(USART1) <-OpenCM9.04 -Dynamixel Dxl(DXL_BUS_SERIAL1); - -// Control Table // -#define MOVING_SPEED 32 -#define PRESENT_POS 37 -#define PRESENT_SPEED 39 -#define PRESENT_VOLTAGE 45 -#define LED 25 - -//Rewritable globals -float desired_vel; -float desired_theta; -float actual_vel; -float actual_theta; -float control_signal; -float actual_p; - - -//Deadzone -int dead_buffer = 40; - -// Legs setup // -const int legs_active = 6; - -// Packet Setup // -const int packet_length = 2 * legs_active; -word packet[packet_length]; - -// Button Setup // -int button_state; -int last_button_state = 0; - -// Battery Check // -int low_battery = 1; // 1 = red, 3 = yellow, 2 = green -int prev_low_battery = 0; -int voltage; -int voltage_check; - -//TODO: move to bluetooth .h file -//For bluetooth Connection -const byte numChars = 32; -char receivedChars[numChars]; -char tempChars[numChars]; // temporary array for use when parsing - - // variables to hold the parsed data -char messageFromPC[numChars] = {0}; -int integerFromPC = 0; -float floatFromPC = 0.0; - -//variables for parsed data -int dutyFactor_new; -int period_new; -int thetaDown_new; -int thetaSlow_new; -int kp_new; -int kd_new; -int turnMod_new; //turn command for steering miniRHex -int mode_new; //controls which gait miniRHex is using - -int count = 0; - -boolean newData = false; -//-----end bluetooth - -void setup(){ - Dxl.begin(3); //baudrate set to 1 Mbps (max) - Serial2.begin(57600); //set up serial usb input - - pinMode(BOARD_BUTTON_PIN, INPUT_PULLDOWN); //setup user button - pinMode(BOARD_LED_PIN, OUTPUT); //setup LED - int t_start = millis(); - for (int i = 1; i <= legs_active; i++){ //legs stored at their index - Dxl.wheelMode(legs[i].id); //change servo to wheel mode - update_gait(i, initial_gait, t_start); //set initial parameters, initial_gait in gait_parameters - } -} - -void user_button_pressed(){ - - digitalWrite(BOARD_LED_PIN, LOW); //turn led on - //compute new gait - int new_gait = (legs[1].gait + 1) % num_gaits; - int t_start = millis(); - for(int i = 1; i <= legs_active; i++){ - update_gait(i, new_gait, t_start); - } - -} - -void user_button_released(){ - digitalWrite(BOARD_LED_PIN, HIGH); -} - -void jump_ready(){ - int t_start = millis(); - for (int i = 1; i <= legs_active; i++){ - legs[i].desired_theta = 90; - update_gait(i, STAND, t_start); - } - SerialUSB.println("JUMP READY"); -} - -void jump(){ - - int t_start = millis(); - while (millis() - t_start < 900){ - SerialUSB.println(t_start - millis()); - if (millis() - t_start > 0){ - Dxl.writeWord(1, MOVING_SPEED, 1023); - Dxl.writeWord(4, MOVING_SPEED, 2047); - } - if (millis() - t_start > 100){ - Dxl.writeWord(2, MOVING_SPEED, 1023); - Dxl.writeWord(5, MOVING_SPEED, 2047); - } - if (millis() - t_start > 190){ - Dxl.writeWord(3, MOVING_SPEED, 1023); - Dxl.writeWord(6, MOVING_SPEED, 2047); - } - } - for (int i = 1; i <= legs_active; i++){ - legs[i].desired_theta = 0; - update_gait(i, STAND, t_start); - } - -} - - -// Serial parse for bluetooth connection -void recvWithStartEndMarkers() { - static boolean recvInProgress = false; - static byte ndx = 0; - char startMarker = '<'; - char endMarker = '>'; - char rc; - - while (Serial2.available() > 0 && newData == false) { - rc = Serial2.read(); - if (recvInProgress == true) { - if (rc != endMarker) { - receivedChars[ndx] = rc; - ndx++; - if (ndx >= numChars) { - ndx = numChars - 1; - } - } - else { - receivedChars[ndx] = '\0'; // terminate the string - recvInProgress = false; - ndx = 0; - newData = true; - } - } - else if (rc == startMarker) { - recvInProgress = true; - } - } -} - -// //============ - -void parseData() { // split the data into its parts - - char * strtokIndx; // this is used by strtok() as an index - - strtokIndx = strtok(tempChars,","); // get the first part - the string - mode_new = atoi(strtokIndx); // copy it to messageFromPC - - strtokIndx = strtok(NULL, ","); - turnMod_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - dutyFactor_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - period_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - thetaDown_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - thetaSlow_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - kp_new = atoi(strtokIndx); - - strtokIndx = strtok(NULL, ","); - kd_new = atoi(strtokIndx); - -} - -void showParsedData() { - SerialUSB.println("Mode "); - SerialUSB.println(mode_new); - SerialUSB.println("TurnMode "); - SerialUSB.println(turnMod_new); - SerialUSB.println("kp "); - SerialUSB.println(kp_new); -} - -void checkBatteryStatus() { - //time count - count++; - - prev_low_battery = low_battery; - //Every 100 loop iterations, find max voltage supplied to each leg and compare with nominal - if (count%10 == 0){ - voltage = 0; - for (int i = 1; i <= legs_active; i++){ - voltage_check = Dxl.readByte(legs[1].id, PRESENT_VOLTAGE); - if (voltage_check > voltage) voltage = voltage_check; - } - //SerialUSB.println(voltage); - - if (voltage > 73){ //green - low_battery = 2; - } - else if (voltage < 71){ //red - low_battery = 1; - } - else{ - low_battery = 3; //yellow - } - } - - if (prev_low_battery != low_battery){ - //SerialUSB.println("Should switch led color here"); - for (int i = 1; i <= legs_active; i++){ - Dxl.writeByte(legs[i].id, LED, low_battery); - } - } -} - - - -void loop(){ - - checkBatteryStatus(); - - // Check bluetooth connection for new data - recvWithStartEndMarkers(); - if (newData == true) { - strcpy(tempChars, receivedChars); - // this temporary copy is necessary to protect the original data - // because strtok() used in parseData() replaces the commas with \0 - parseData(); - //showParsedData(); //prints values to usb serial - newData = false; - - // TODO: make this a param or phase type in gait params file - float phases[7] = {0, 0.5, 0, 0.5, 0, 0.5, 0}; - - if (mode_new != -1){ - int t_start = millis(); - for (int i = 1; i <= legs_active; i++){ - update_gait(i, mode_new, t_start, dutyFactor_new, period_new, thetaDown_new, thetaSlow_new, kp_new, kd_new, phases[i]); - } - } - } - - //button control - button_state = digitalRead(BOARD_BUTTON_PIN); - if (button_state > last_button_state) user_button_pressed(); - else if (button_state < last_button_state) user_button_released(); - last_button_state = button_state; - - - //primary for-loop - for(int i = 1; i <= legs_active; i++){ - packet[(i-1) * 2] = legs[i].id; - actual_p = Dxl.readWord(legs[i].id, PRESENT_POS); - actual_theta = P_to_Theta(actual_p); // converted to degrees, relative to leg - actual_vel = dynV_to_V(Dxl.readWord(legs[i].id, PRESENT_SPEED)); // converted to degrees/ms, relative to leg - if (!legs[i].deadzone){ - - if (actual_p == 0 || actual_p == 1023){ //entering deadzone - legs[i].deadzone = true; - if (actual_p == 0) legs[i].dead_from_neg = true; - else legs[i].dead_from_neg = false; - continue; - } - - if (legs[i].gait == STAND){ //standing or sitting - if (legs[i].right_side){ - desired_theta = Theta_to_ThetaR(legs[i].desired_theta); - } - else{ - desired_theta = legs[i].desired_theta; - } - actual_theta = actual_theta - legs[i].zero; //zero out leg thetas, accounts for small servo irregularities - control_signal = pd_controller(actual_theta, desired_theta, actual_vel, 0, kp_hold, kd_hold); - } - else { //walking, turning - //compute absolute desired values (theta and velocity) from clock time - vals v = get_desired_vals(millis(), legs[i], turnMod_new); - //translate theta and v to relative (left and right) - if (legs[i].right_side){ - desired_vel = -v.global_velocity; //relative - desired_theta = Theta_to_ThetaR(v.global_theta); // relative - } - else{ //left side, relative is same as global - desired_vel = v.global_velocity; - desired_theta = v.global_theta; - } - actual_theta = actual_theta - legs[i].zero; - - control_signal = pd_controller(actual_theta, desired_theta, actual_vel, desired_vel, legs[i].kp, legs[i].kd); - } - - - int new_vel = V_to_dynV(actual_vel + control_signal); - packet[(i-1) * 2 + 1] = new_vel; - } - - else{ //deadzone - if ((actual_p > 0) & (actual_p < dead_buffer) || (actual_p < 1023) & (actual_p > 1023 -dead_buffer)){ //exiting deadzone - legs[i].deadzone = false; - } - float signed_recovery_speed = legs[i].dead_from_neg == true ? -legs[i].recovery_speed : legs[i].recovery_speed; - packet[(i-1) * 2 + 1] = V_to_dynV(signed_recovery_speed); - } - } - - Dxl.syncWrite(MOVING_SPEED, 1, packet, packet_length); //simultaneously write to each of 6 servoes with updated commands -} - diff --git a/assembly_instructions (1).pdf b/assembly_instructions (1).pdf deleted file mode 100644 index 0cf15a0..0000000 Binary files a/assembly_instructions (1).pdf and /dev/null differ diff --git a/testing/CMakeCache.txt b/testing/CMakeCache.txt deleted file mode 100644 index 402ef29..0000000 --- a/testing/CMakeCache.txt +++ /dev/null @@ -1,320 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /Users/nikolaiflowers/Documents/ROBOTIS/MiniRHex/testing -# It was generated by CMake: /opt/local/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - -//Path to a program. -CMAKE_AR:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar - -//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or -// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. -CMAKE_BUILD_TYPE:STRING= - -//Enable/Disable color output during build. -CMAKE_COLOR_MAKEFILE:BOOL=ON - -//CXX compiler -CMAKE_CXX_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ - -//Flags used by the compiler during all build types. -CMAKE_CXX_FLAGS:STRING= - -//Flags used by the compiler during debug builds. -CMAKE_CXX_FLAGS_DEBUG:STRING=-g - -//Flags used by the compiler during release builds for minimum -// size. -CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the compiler during release builds. -CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - -//Flags used by the compiler during release builds with debug info. -CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG - -//C compiler -CMAKE_C_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc - -//Flags used by the compiler during all build types. -CMAKE_C_FLAGS:STRING= - -//Flags used by the compiler during debug builds. -CMAKE_C_FLAGS_DEBUG:STRING=-g - -//Flags used by the compiler during release builds for minimum -// size. -CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the compiler during release builds. -CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - -//Flags used by the compiler during release builds with debug info. -CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG - -//Flags used by the linker. -CMAKE_EXE_LINKER_FLAGS:STRING= - -//Flags used by the linker during debug builds. -CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during release minsize builds. -CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during release builds. -CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during Release with Debug Info builds. -CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Enable/Disable output of compile commands during generation. -CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF - -//Path to a program. -CMAKE_INSTALL_NAME_TOOL:FILEPATH=/usr/bin/install_name_tool - -//Install path prefix, prepended onto install directories. -CMAKE_INSTALL_PREFIX:PATH=/usr/local - -//Path to a program. -CMAKE_LINKER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld - -//Path to a program. -CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make - -//Flags used by the linker during the creation of modules. -CMAKE_MODULE_LINKER_FLAGS:STRING= - -//Flags used by the linker during debug builds. -CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during release minsize builds. -CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during release builds. -CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during Release with Debug Info builds. -CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Path to a program. -CMAKE_NM:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/nm - -//Path to a program. -CMAKE_OBJCOPY:FILEPATH=CMAKE_OBJCOPY-NOTFOUND - -//Path to a program. -CMAKE_OBJDUMP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump - -//Build architectures for OSX -CMAKE_OSX_ARCHITECTURES:STRING= - -//Minimum OS X version to target for deployment (at runtime); 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Users/nikolaiflowers/Documents/ROBOTIS/MiniRHex/pd_control.s" - @echo "... conversions_test.o" - @echo "... conversions_test.i" - @echo "... conversions_test.s" - @echo "... desired_values_test.o" - @echo "... desired_values_test.i" - @echo "... desired_values_test.s" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/testing/cmake_install.cmake b/testing/cmake_install.cmake deleted file mode 100644 index ac64377..0000000 --- a/testing/cmake_install.cmake +++ /dev/null @@ -1,39 +0,0 @@ -# Install script for directory: /Users/nikolaiflowers/Documents/ROBOTIS/MiniRHex/testing - -# Set the install prefix -if(NOT DEFINED CMAKE_INSTALL_PREFIX) - set(CMAKE_INSTALL_PREFIX "/usr/local") -endif() -string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -# Set the install configuration name. -if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) - if(BUILD_TYPE) - string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" - CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") - else() - set(CMAKE_INSTALL_CONFIG_NAME "") - endif() - message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") -endif() - -# Set the component getting installed. -if(NOT CMAKE_INSTALL_COMPONENT) - if(COMPONENT) - message(STATUS "Install component: \"${COMPONENT}\"") - set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") - else() - set(CMAKE_INSTALL_COMPONENT) - endif() -endif() - -if(CMAKE_INSTALL_COMPONENT) - set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") -else() - set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") -endif() - -string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT - "${CMAKE_INSTALL_MANIFEST_FILES}") -file(WRITE "/Users/nikolaiflowers/Documents/ROBOTIS/MiniRHex/testing/${CMAKE_INSTALL_MANIFEST}" - "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/testing/conversions_test.cpp b/testing/conversions_test.cpp deleted file mode 100644 index 112e1a2..0000000 --- a/testing/conversions_test.cpp +++ /dev/null @@ -1,75 +0,0 @@ -#include "../conversions.h" -#include - -int main(){ - float V1 = 0.98; - int D1 = V_to_dynV(V1); - float V2 = 2.5; - int D2 = V_to_dynV(V2); - float V3 = 0; - int D3 = V_to_dynV(V3); - float V4 = -0.4; - int D4 = V_to_dynV(V4); - float V5 = -2.8; - int D5 = V_to_dynV(V5); - printf("V to dynV\n"); - printf("%f -> %d \n", V1, D1); - printf("%f -> %d \n", V2, D2); - printf("%f -> %d \n", V3, D3); - printf("%f -> %d \n", V4, D4); - printf("%f -> %d \n", V5, D5); - - D1 = 1000; - V1 = dynV_to_V(D1); - D2 = -1000; - V2 = dynV_to_V(D2); - D3 = 0; - V3 = dynV_to_V(D3); - D4 = 120; - V4 = dynV_to_V(D4); - D5 = -120; - V5 = dynV_to_V(D5); - - printf("\ndynV to V\n"); - printf("%d -> %f \n", D1, V1); - printf("%d -> %f \n", D2, V2); - printf("%d -> %f \n", D3, V3); - printf("%d -> %f \n", D4, V4); - printf("%d -> %f \n", D5, V5); - - - printf("\ndynV to V and back\n"); - D1 = 923; - V1 = dynV_to_V(D1); - D2 = V_to_dynV(V1); - printf("%d -> %f -> %d \n", D1, V1, D2); - - printf("\nP to theta\n"); - int P1 = 0; - float T1 = P_to_Theta(P1); - int P2 = 1020; - float T2 = P_to_Theta(P2); - int P3 = 375; - float T3 = P_to_Theta(P3); - printf("%d -> %f \n", P1, T1); - printf("%d -> %f \n", P2, T2); - printf("%d -> %f \n", P3, T3); - - printf("\nTheta to p\n"); - T1 = 0; - P1 = Theta_to_P(T1); - T2 = -81; - P2 = Theta_to_P(T2); - T3 = 174; - P3 = Theta_to_P(T3); - printf("%f -> %d \n", T1, P1); - printf("%f -> %d \n", T2, P2); - printf("%f -> %d \n", T3, P3); - - printf("\nTheta to ThetaR\n"); - for (int i = -180; i <= 180; i = i + 10){ - T1 = i; - float TR1 = Theta_to_ThetaR(T1); - printf("%f -> %f \n", T1, TR1); - } -} diff --git a/testing/desired_values_test.cpp b/testing/desired_values_test.cpp deleted file mode 100644 index 4f428ff..0000000 --- a/testing/desired_values_test.cpp +++ /dev/null @@ -1,35 +0,0 @@ -#include "../desired_values.h" -#include "../control_parameters.h" -#include "../pd_control.h" -#include "../leg_info.h" -#include "../gait_parameters.h" - -#include /* printf */ -#include -#include - - -int main(){ - - remove("../../txt/data.txt"); - std::ofstream dataFile("../../txt/data.txt"); - float curr; - int li = 1; - int gait = WALK; - - - update_gait(li, gait, 0); - leg l = legs[li]; - l.gait = gait; - printf("%d\n", l.t_c); - - for (int i = 0; i <= 1*l.t_c; i = i + 1){ - curr = get_desired_vals(i, l).global_theta; - - dataFile << i << ", " << curr << "\n"; - - printf("%d, %f\n", i, curr); - } - //pd_controller(70, 180, 0.0, 1.0, 0.1, 0.5); - dataFile.close(); -} diff --git a/testing/plot.py b/testing/plot.py deleted file mode 100644 index 2bfe7f0..0000000 --- a/testing/plot.py +++ /dev/null @@ -1,45 +0,0 @@ -from matplotlib import pyplot as plt -import csv -import numpy as np - -times1 = [] -thetas1 = [] -times2 = [] -thetas2 = [] - -hit_break = False - -with open('../../txt/data.txt','r') as csvfile: - plots = csv.reader(csvfile, delimiter=',') - for row in plots: - if (len(thetas1) > 0 and round(float(row[1])) < thetas1[-1]): - hit_break = True - if (not hit_break): - times1.append(int(row[0])) - thetas1.append(round(float(row[1]))) - else: - times2.append(int(row[0])) - thetas2.append(round(float(row[1]))) - -fig = plt.figure() - -ax = fig.add_subplot(1, 1, 1) -ax.spines['right'].set_position('center') -ax.spines['top'].set_position('center') - -line1, = plt.plot(times1,thetas1,'b') -line2, = plt.plot(times2,thetas2,'b') -#uncomment following line to turn on wrapping -line3, = plt.plot((times1[-1], times2[0]), (thetas1[-1], thetas2[0]),'b--' ) - -plt.xlabel('Time (ms)') -plt.ylabel('Theta ($^\circ$)') -plt.title('Desired Angle of leg in degrees') - - -plt.yticks(np.arange(-180, 181, 30)) - - - - -plt.show() diff --git a/testing/test_conversions b/testing/test_conversions deleted file mode 100755 index e71bc92..0000000 Binary files a/testing/test_conversions and /dev/null differ diff --git a/testing/test_desired b/testing/test_desired deleted file mode 100755 index 9642a7d..0000000 Binary files a/testing/test_desired and /dev/null differ