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Cleaned up degrees to radians calculation #5

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Cleaned up degrees to radians calculation #5

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286 changes: 146 additions & 140 deletions Part1/code/Dog001/Dog001.ino
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Original file line number Diff line number Diff line change
@@ -1,141 +1,147 @@
#include <EasyTransfer.h>
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Pretty much every line in the file is marked in the diff as being touched by this commit because the author's editor changed line endings from Unix to DOS. I wouldn't expect someone submitting a PR to make this type of change unless such a change was previously agreed upon by the project maintainer.

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For some reason submitting PRs with github's editor from the website does this, giving the message "We’ve detected the file has mixed line endings. When you commit changes we will normalize them to Windows-style (CRLF)."

#include <Math.h>

//create object
EasyTransfer ET1; // send serial
EasyTransfer ET2; // rec serial

// knee calcs
#define DIGITLENGTH 330L // length of each top/bottom leg
#define KNEEROD 180L // length of push rod
#define KNEEROD2 94L // other side of push rod triangle
#define KNEEACTANGLE 15L // angle between actuator and upp leg joint

double legLength; // required overall leg length
double kneeAngle; // the actual angle of the knee between top and bottom sections
double kneeAngle2; // angle between bottom of leg and actuator
double kneeAngle2a; // angle between bottom of leg and actuator
double kneeAngle3; // other angle
double kneeAngle3a; // other angle
double kneeAngle4; // other angle.
double kneeAngle4a; // other angle
double kneeActuator; // calculated length of actuator from joint

int axis1;
int axis2;
int axis3;
int axis4;
int axis5;
int axis6;

int mode;
int count;

int menuFlag = 0;

struct RECEIVE_DATA_STRUCTURE{
//put your variable definitions here for the data you want to send
//THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO

bool menuDown;
bool Select;
bool menuUp;
bool toggleBottom;
bool toggleTop;
int mode;
int16_t RLR;
int16_t RFB;
int16_t RT;
int16_t LLR;
int16_t LFB;
int16_t LT;
};

struct SEND_DATA_STRUCTURE{
//put your variable definitions here for the data you want to receive
//THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
int16_t mode;
int16_t count;
};

SEND_DATA_STRUCTURE mydata_send;
RECEIVE_DATA_STRUCTURE mydata_remote;

unsigned long previousMillis = 0;
const long interval = 20;

long previousSafetyMillis;

void setup() {

Serial.begin(57600);
Serial2.begin(57600);

ET1.begin(details(mydata_send), &Serial2);
ET2.begin(details(mydata_remote), &Serial2);


}

void loop() {

unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= interval) { // start timed event for read and send
previousMillis = currentMillis;

if(ET2.receiveData()){ // main data receive
previousSafetyMillis = currentMillis;

mydata_send.mode = mode;
mydata_send.count = count;

ET1.sendData(); // send data back to remote

} // end of receive data

else if(currentMillis - previousSafetyMillis > 200) { // safeties
Serial.println("no data");
}

count = count+1; // update count for remote monitoring

if (mydata_remote.menuUp == 1 && menuFlag == 0) { // menu select handling & debounce
menuFlag = 1;
mode = mode+1;
mode = constrain(mode,0,5);
}
else if (mydata_remote.menuDown == 1 && menuFlag == 0) {
menuFlag = 1;
mode = mode-1;
mode = constrain(mode,0,5);
}
else if (mydata_remote.menuDown == 0 && mydata_remote.menuUp == 0){
menuFlag = 0;
}

// initial leg length calcs

legLength = map(mydata_remote.RT,0,1023,380,650); // map control data to mm

kneeAngle = acos ( (sq(DIGITLENGTH) + sq(DIGITLENGTH) - sq(legLength)) / (2 * DIGITLENGTH * DIGITLENGTH) );
kneeAngle = (kneeAngle * 4068) / 71; // convert radians to degrees
kneeAngle2a = kneeAngle - KNEEACTANGLE; // take away known angle
kneeAngle2 = (kneeAngle2a * 71) / 4068; // convert degrees to radians

kneeAngle3 = asin ( (KNEEROD2 * sin(kneeAngle2)/KNEEROD));
kneeAngle3a = (kneeAngle3 * 4068 / 71); // convert radians to degrees

kneeAngle4a = 180 - kneeAngle2a - kneeAngle3a; // we now know all four angles
kneeAngle4 = (kneeAngle4a * 71) / 4068; // convert degrees to radians

kneeActuator = (((sin(kneeAngle4)) * KNEEROD)) / sin(kneeAngle2);

Serial.print(legLength);
Serial.print(" , ");
Serial.println(kneeActuator);


} // end of timed event

}
#include <EasyTransfer.h>
#include <Math.h>

//create object
EasyTransfer ET1; // send serial
EasyTransfer ET2; // rec serial

// knee calcs
#define DIGITLENGTH 330L // length of each top/bottom leg
#define KNEEROD 180L // length of push rod
#define KNEEROD2 94L // other side of push rod triangle
#define KNEEACTANGLE 15L // angle between actuator and upp leg joint

double legLength; // required overall leg length
double kneeAngle; // the actual angle of the knee between top and bottom sections
double kneeAngle2; // angle between bottom of leg and actuator
double kneeAngle2a; // angle between bottom of leg and actuator
double kneeAngle3; // other angle
double kneeAngle3a; // other angle
double kneeAngle4; // other angle.
double kneeAngle4a; // other angle
double kneeActuator; // calculated length of actuator from joint

int axis1;
int axis2;
int axis3;
int axis4;
int axis5;
int axis6;

int mode;
int count;

int menuFlag = 0;

struct RECEIVE_DATA_STRUCTURE{
//put your variable definitions here for the data you want to send
//THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO

bool menuDown;
bool Select;
bool menuUp;
bool toggleBottom;
bool toggleTop;
int mode;
int16_t RLR;
int16_t RFB;
int16_t RT;
int16_t LLR;
int16_t LFB;
int16_t LT;
};

struct SEND_DATA_STRUCTURE{
//put your variable definitions here for the data you want to receive
//THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
int16_t mode;
int16_t count;
};

SEND_DATA_STRUCTURE mydata_send;
RECEIVE_DATA_STRUCTURE mydata_remote;

unsigned long previousMillis = 0;
const long interval = 20;

long previousSafetyMillis;

void setup() {

Serial.begin(57600);
Serial2.begin(57600);

ET1.begin(details(mydata_send), &Serial2);
ET2.begin(details(mydata_remote), &Serial2);


}


float radToDeg(radians) {
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The code no longer builds after these changes are applied. This line is missing the type specification for the radians parameter. A similar mistake was made below for the degrees parameter in degToRad().

return radians * 4068/71
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This line doesn't compile either since it is missing the semicolon at the end of the line. The body of degToRad() is missing a semicolon too.

}

float degToRad(degrees) {
return degrees * 71/4068
}


void loop() {

unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= interval) { // start timed event for read and send
previousMillis = currentMillis;

if(ET2.receiveData()){ // main data receive
previousSafetyMillis = currentMillis;

mydata_send.mode = mode;
mydata_send.count = count;

ET1.sendData(); // send data back to remote

} // end of receive data

else if(currentMillis - previousSafetyMillis > 200) { // safeties
Serial.println("no data");
}

count = count+1; // update count for remote monitoring

if (mydata_remote.menuUp == 1 && menuFlag == 0) { // menu select handling & debounce
menuFlag = 1;
mode = mode+1;
mode = constrain(mode,0,5);
}
else if (mydata_remote.menuDown == 1 && menuFlag == 0) {
menuFlag = 1;
mode = mode-1;
mode = constrain(mode,0,5);
}
else if (mydata_remote.menuDown == 0 && mydata_remote.menuUp == 0){
menuFlag = 0;
}

// initial leg length calcs

legLength = map(mydata_remote.RT,0,1023,380,650); // map control data to mm

kneeAngle = acos ( (sq(DIGITLENGTH) + sq(DIGITLENGTH) - sq(legLength)) / (2 * DIGITLENGTH * DIGITLENGTH) );
kneeAngle2 = kneeAngle - degToRad(KNEEACTANGLE); // take away known angle

kneeAngle3 = asin ( (KNEEROD2 * sin(kneeAngle2)/KNEEROD));

kneeAngle4 = degToRad(180) - kneeAngle2 - kneeAngle3; // we now know all four angles

kneeActuator = (((sin(kneeAngle4)) * KNEEROD)) / sin(kneeAngle2);

Serial.print(legLength);
Serial.print(" , ");
Serial.println(kneeActuator);


} // end of timed event

}