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add more behaviour

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This commit is contained in:
Philipp Kramer 2024-09-12 16:59:47 +02:00
parent c125512adb
commit ec3afd83ce
7 changed files with 213 additions and 34 deletions
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157
prosthesis_controller/behaviour.cpp
View file

@ -6,17 +6,128 @@ SimplexNoise sn;
Mood mood;
float map_mode_rollpitch=0;
float map_mode_walking=0;
float map_mode_sleeping=0;
float map_mode_noise=0;
float matrix_weights_main[SERVO_COUNT_MAIN][WEIGHT_COUNT]; //mapping outputs, sensors/moods
float matrix_weights_peripheralL[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT];
float matrix_weights_peripheralR[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT];
void initBehaviour() {
mood.arousal=0;
mood.valence=0;
}
void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror) {
void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,float maxAccX,float maxAccY,float maxAccZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror) {
static unsigned long last_mood_update=0;
if (millis-last_mood_update>MOOD_UPDATE_INTERVAL) {
last_mood_update=millis;
mood.arousal=0;
mood.valence=0;
float step=MOOD_UPDATE_INTERVAL/1000.0;
if (body_present && pumpspeed<0.8) { //body present and vacuum present (pump below speed 1.0)
if (mood.valence<0.0) { //when attached, and valence low
mood.valence=0.2; //jump valence up quickly
}
if (mood.valence<0.5) { //increase valence up to a certain point
mood.valence+=step*0.05;
}
}
if (!body_present) {
if (mood.valence>-0.5) { //decrease valence down to a certain point
mood.valence-=step*0.01;
}
}
static unsigned long last_contact_time=0;
static bool last_contact_main=false;
static bool last_contact_peripheralR=false;
static bool last_contact_peripheralL=false;
if (contact_main || contact_peripheralL || contact_peripheralR) {
if ((contact_main && !last_contact_main) || (contact_peripheralL && !last_contact_peripheralL) || (contact_peripheralR && !last_contact_peripheralR)) { //on first contact
long _contacttime_min=1000;
long _contacttime_max=20000;
float _contact_increase_arousal=0.7;
float _contact_increase_valence=0.1;
if (mood.valence<-0.2) {
long _contacttime_min=500;
long _contacttime_max=2000;
float _contact_increase_arousal=0.7;
float _contact_increase_valence=-0.2;
}
float olda=mood.arousal;
float oldv=mood.valence;
mood.arousal+=constrain(mapfloat(millis-last_contact_time,_contacttime_min,_contacttime_max,0,_contact_increase_arousal),0,_contact_increase_arousal);
mood.valence+=constrain(mapfloat(millis-last_contact_time,_contacttime_min,_contacttime_max,0,_contact_increase_valence),0,_contact_increase_valence);
Serial.print("Contact. increase arousal:"); Serial.print(mood.arousal-olda); Serial.print(" valence:"); Serial.print(mood.valence-oldv); Serial.println();
}
last_contact_time=millis;
}
last_contact_main=contact_main;
last_contact_peripheralR=contact_peripheralR;
last_contact_peripheralL=contact_peripheralL;
static float last_height=0;
static float heightdiffsmooth=0; //goes up to 0.2 when lifted or lowered quickly 1m and slowly deacreases to 0
heightdiffsmooth+=height-last_height;
if (heightdiffsmooth>0) {
heightdiffsmooth-=behaviour_confortable_lift*step;
}else if (heightdiffsmooth<0) {
heightdiffsmooth+=behaviour_confortable_lift*step; //0.1*step means 0.1m of heightchange per second does not affect heightdiffsmooth
}
//Serial.print("heightdiffsmooth:"); Serial.println(heightdiffsmooth,3);
float maxAcc=sqrt(pow(maxAccX,2)+pow(maxAccY,2)+pow(maxAccZ,2));
float preferredMaxAcc=0.5;
if (constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)>0.0) {
digitalWrite(PIN_LED,LOW); //On
}else{
digitalWrite(PIN_LED,HIGH); //Off
}
if (mood.arousal<-0.5) {
mood.arousal+=constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)*step*0.2;
}else{
mood.valence+=constrain(mapfloat(abs(preferredMaxAcc-maxAcc),0.0,0.3,1.0,0.0),0.0,1.0)*step*0.2;
if (mood.arousal>0.7) {
mood.arousal-=step*0.04;
}else if(mood.arousal<0.3) {
mood.arousal+=step*0.03;
}
}
if (abs(heightdiffsmooth)>0.05) {
mood.valence-=abs(heightdiffsmooth)*step*1.0;
if (mood.arousal<0.9){
mood.arousal+=abs(heightdiffsmooth)*step*3.0;
}
}
last_height=height;
mood.arousal-=step*0.02; //slowly deacrease arousal
if (mood.valence<0) {
mood.valence+=step*0.03;
}else if (mood.valence>0) {
mood.valence-=step*0.01;
}
mood.arousal=constrain(mood.arousal,-1.0,1.0);
mood.valence=constrain(mood.valence,-1.0,1.0);
}
}
@ -30,10 +141,7 @@ void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, b
//### Update Mode ###
static float map_mode_rollpitch=0;
static float map_mode_walking=0;
static float map_mode_sleeping=0;
static float map_mode_noise=0;
float aim_map_mode_rollpitch=0;
float aim_map_mode_walking=0;
@ -42,14 +150,19 @@ void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, b
if (body_present) { //attached
aim_map_mode_rollpitch=1.0;
if (body_present) { //attached
aim_map_mode_rollpitch=constrain(mapfloat(mood.valence,-0.3,0.3,0,1.0),0,1.0);
aim_map_mode_noise=constrain(mapfloat(mood.valence,-0.2,-1.0,0,1.0),0,1.0);
}else{ //detached
if (bellyup) { //belly up
aim_map_mode_walking=1.0;
}else{ //sitting on a level survace
aim_map_mode_noise=1.0;
aim_map_mode_noise=constrain(mapfloat(mood.arousal,-0.5,0.5, 0.0,1.0),0,1.0);
map_mode_sleeping=constrain(mapfloat(mood.arousal,-1.0,-0.6, 1.0,0.0),0,1.0);
}
}
@ -59,13 +172,9 @@ void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, b
map_mode_noise=interpolateTo(map_mode_noise,aim_map_mode_noise,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
/*
Serial.print("Walking: \t"); Serial.println(map_mode_walking);
Serial.print("RollPitch: \t"); Serial.println(map_mode_rollpitch);
Serial.print("Sleeping: \t"); Serial.println(map_mode_sleeping);
Serial.print("Noise: \t"); Serial.println(map_mode_noise);
Serial.println();
*/
float map_sum=map_mode_walking+map_mode_rollpitch+map_mode_sleeping+map_mode_noise;
map_mode_walking/=map_sum;
@ -73,8 +182,7 @@ void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, b
map_mode_sleeping/=map_sum;
map_mode_noise/=map_sum; //divide mapping so the sum will be 1.0
analogWrite(PIN_VIBRATION,contact_main*map_mode_noise*64); //TODO, remove
analogWrite(PIN_VIBRATION,contact_main?64:0);
//reset all weights
@ -124,6 +232,13 @@ void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, b
}
}
void printModes() {
Serial.print("Walking: \t"); Serial.println(map_mode_walking);
Serial.print("RollPitch: \t"); Serial.println(map_mode_rollpitch);
Serial.print("Sleeping: \t"); Serial.println(map_mode_sleeping);
Serial.print("Noise: \t"); Serial.println(map_mode_noise);
Serial.println();
}
void updateServosByWeights(unsigned long millis,float pitch,float roll){
static unsigned long last_servoweights_update=0;
@ -216,3 +331,7 @@ float mapfloat(float x, float in_min, float in_max, float out_min, float out_max
return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
}
void printMood(){
Serial.print("A:"); Serial.print(mood.arousal); Serial.print(" V:"); Serial.print(mood.valence);
Serial.println();
}

6
prosthesis_controller/behaviour.h
View file

@ -38,12 +38,16 @@ struct Mood{
};
extern Mood mood;
const float behaviour_confortable_lift=0.1; // Meters per seond. heightchange below does not affect mood
void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror);
void initBehaviour();
void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,float maxAccX,float maxAccY,float maxAccZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror);
void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR, float pitch, float roll);
void updateServosByWeights(unsigned long millis,float pitch,float roll);
float interpolateTo(float value,float aimvalue,float timestep,float speed);
float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
void printMood();
void printModes();
#endif

37
prosthesis_controller/imu.cpp
View file

@ -4,6 +4,10 @@
MPU6050 mpu6050(Wire,IMU_AC,IMU_GC);
float maxAccX;
float maxAccY;
float maxAccZ;
bool imu_bellyup=false;
@ -34,6 +38,23 @@ void loopIMU(unsigned long millis) {
Serial.print("\tangleZ : ");
Serial.println(mpu6050.getAngleZ());*/
maxAccX-=UPDATE_IMU_INTERVAL/1000.0*1.0; //slowly reduce values
maxAccY-=UPDATE_IMU_INTERVAL/1000.0*1.0;
maxAccZ-=UPDATE_IMU_INTERVAL/1000.0*1.0;
static float last_accX;
static float last_accY;
static float last_accZ;
float _accX=getAccX();
float _accY=getAccY();
float _accZ=getAccZ();
maxAccX=max(abs(last_accX-_accX), maxAccX);
maxAccY=max(abs(last_accY-_accY), maxAccY);
maxAccZ=max(abs(last_accZ-_accZ), maxAccZ);
last_accX=_accX;
last_accY=_accY;
last_accZ=_accZ;
if(mpu6050.getAccZ()<-0.5) { //is upside down
imu_bellyup=true;
}else{
@ -71,6 +92,22 @@ float getAccZ() {
return mpu6050.getAccZ();
}
float getMaxAccX() {
return maxAccX;
}
float getMaxAccY() {
return maxAccY;
}
float getMaxAccZ() {
return maxAccZ;
}
void resetMaxAcc(){
maxAccX=0;
maxAccY=0;
maxAccZ=0;
}
float getGyroAngleX() {
return mpu6050.getGyroAngleX();
}

5
prosthesis_controller/imu.h
View file

@ -24,6 +24,11 @@ float getAccX();
float getAccY();
float getAccZ();
float getMaxAccX();
float getMaxAccY();
float getMaxAccZ();
void resetMaxAcc();
float getGyroAngleX();
float getGyroAngleY();
float getGyroAngleZ();

28
prosthesis_controller/prosthesis_controller.ino
View file

@ -16,6 +16,8 @@ void setup() {
pinMode(PIN_LED,OUTPUT);
digitalWrite(PIN_LED,HIGH); //LOW=Light, HIGH=Off
initBehaviour();
initVacuum();
initBodytemp();
@ -24,9 +26,9 @@ void setup() {
initIMU(7.54,-15.26,-1.41);
pinMode(PIN_INPUTARM1,INPUT);
pinMode(PIN_INPUTARM2,INPUT);
pinMode(PIN_INPUTARM3,INPUT);
pinMode(PIN_INPUTARM1,INPUT_PULLDOWN);
pinMode(PIN_INPUTARM2,INPUT_PULLDOWN);
pinMode(PIN_INPUTARM3,INPUT_PULLDOWN);
pinMode(PIN_INPUTAUX,INPUT);
@ -41,7 +43,7 @@ void loop() {
bool body_present=checkBodypresence(loopmillis);
digitalWrite(PIN_LED,!body_present);
//digitalWrite(PIN_LED,!body_present);
loopVacuum(loopmillis);
@ -66,9 +68,11 @@ void loop() {
float pitch=-getAngleY();
float roll=-getAngleX();
float maxAccX=getMaxAccX();
float maxAccY=getMaxAccY();
float maxAccZ=getMaxAccZ();
updateMood(loopmillis,getGyroAngleX(),getGyroAngleY(),getGyroAngleZ(),bellyup,body_present,contact_main,contact_peripheralL,contact_peripheralR,getBarometerHeight(),getAmbienttemp(),getObjecttemp(),getAveragePumpspeed(),getAverageServoPositionerror());
updateMood(loopmillis,getGyroAngleX(),getGyroAngleY(),getGyroAngleZ(),maxAccX,maxAccY,maxAccZ,bellyup,body_present,contact_main,contact_peripheralL,contact_peripheralR,getBarometerHeight(),getAmbienttemp(),getObjecttemp(),getAveragePumpspeed(),getAverageServoPositionerror());
updateMatrixWeights(loopmillis,bellyup,body_present,contact_main,contact_peripheralL,contact_peripheralR,pitch,roll);
updateServosByWeights(loopmillis,pitch,roll);
@ -80,7 +84,7 @@ void loop() {
//Print Debug Information
static unsigned long last_print=0;
if (loopmillis - last_print >100) {
if (loopmillis - last_print >500) {
last_print=loopmillis;
//printVacuumValues();
//Serial.print(" Vac="); Serial.print(vac);
@ -92,10 +96,16 @@ void loop() {
Serial.print("Servo Error:");Serial.print(getAverageServoPositionerror()); Serial.println();
Serial.print("Avg Pump:");Serial.print(getAveragePumpspeed()); Serial.println();
Serial.print("Height:");Serial.print(getBarometerHeight()); Serial.println();
Serial.print("Height:");Serial.print(getBarometerHeight(),3); Serial.println();
Serial.print("Contact:");Serial.print(contact_main); Serial.print(", "); Serial.print(contact_peripheralL); Serial.print(", "); Serial.print(contact_peripheralR);Serial.println();
Serial.print("GyroAngle: ");Serial.print(getGyroAngleX()); Serial.print(", ");Serial.print(getGyroAngleY()); Serial.print(", ");Serial.print(getGyroAngleZ()); Serial.println();
//Serial.print("GyroAngle: ");Serial.print(getGyroAngleX()); Serial.print(", ");Serial.print(getGyroAngleY()); Serial.print(", ");Serial.print(getGyroAngleZ()); Serial.println();
float maxAcc=sqrt(pow(maxAccX,2)+pow(maxAccY,2)+pow(maxAccZ,2));
Serial.print("Accel: ");Serial.print(maxAccX); Serial.print(", ");Serial.print(maxAccY); Serial.print(", ");Serial.print(maxAccZ); Serial.print(", max: ");Serial.print(maxAcc); Serial.println();
printMood();
printModes();
Serial.println();

11
prosthesis_controller/servo.cpp
View file

@ -15,6 +15,7 @@ void initServos()
{
//Main Arm first Servo. Model 1020
servos[0].id=11;
servos[0].velocity=50;
servos[0].mode=OP_CURRENT_BASED_POSITION;
servos[0].current=10.0;
servos[0].offset_angle=180;
@ -25,6 +26,7 @@ void initServos()
//Main Arm second Servo. Model 1080
servos[1].id=12;
servos[1].velocity=75;
servos[1].mode=OP_POSITION;
servos[1].offset_angle=180;
servos[1].min_angle=180-90;
@ -34,6 +36,7 @@ void initServos()
//Main Arm third Servo. Model 1080
servos[2].id=13;
servos[2].velocity=100;
servos[2].mode=OP_POSITION;
servos[2].offset_angle=180;
servos[2].min_angle=180-90;
@ -83,7 +86,7 @@ void initServos()
dxl.setGoalCurrent(servos[i].id, servos[i].current, UNIT_PERCENT);
}
dxl.writeControlTableItem(ControlTableItem::PROFILE_VELOCITY, servos[i].id, 30); //was 30
dxl.writeControlTableItem(ControlTableItem::PROFILE_VELOCITY, servos[i].id, servos[i].velocity); //was 30
dxl.writeControlTableItem(ControlTableItem::PROFILE_ACCELERATION, servos[i].id, 10);
dxl.torqueOn(servos[i].id);
@ -139,9 +142,9 @@ float getAverageServoPositionerror()
float angleerror=0;
for (uint8_t i=0;i<SERVO_COUNT;i++) {
float current_error=servos[i].angle+servos[i].offset_angle - servos[i].actual_angle;
if (current_error<0){
current_error*=-1;
}
current_error=abs(current_error);
angleerror+=current_error;
}
angleerror/=SERVO_COUNT;

3
prosthesis_controller/servo.h
View file

@ -26,8 +26,9 @@
struct dxl_servo {
int id;
uint8_t id;
//int initial_speed;
int32_t velocity;
float offset_angle; //constant offset. set this to match angle=0 to a straight arm
float angle; //commanded angle
float actual_angle; //angle read from servo