First release.
- Add a callback function
RegisterCallBackin received.h. Currently, the callback function is only called upon each update of the robot data, with the instruction type being0x0906(std::function<void(int)> CallBack_,int=0x0906). - The data printed in main.cpp has been changed from the original joint torque to imu angular acceleration.
- Download Lite3_MotionSDK and unzip.
Users can connect to the motion host remotely via SSH.
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Connect the development host to the robot's WiFi.
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Open the SSH connection software on the development host and enter
ssh [email protected], with the passwordfirefly, to connect to the motion host remotely. -
Enter the following code to open the network config file:
cd /home/firefly/jy_exe/conf/ vim network.toml -
The config file network.toml reads as follows:
ip = '192.168.1.102' target_port = 43897 local_port = 43893 ~
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Modify the IP address in the first line of the config file so that MotionSDK can receive motion data from the robot.
- If MotionSDK runs on the motion host of robot, please reset the IP address to
192.168.1.120; - If MotionSDK runs on your development host, please reset it to the static IP address of your development host:
192.168.1.xxx.
- If MotionSDK runs on the motion host of robot, please reset the IP address to
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Restart the motion program for these changes to take effect:
cd /home/firefly/jy_exe sudo ./stop.sh sudo ./restart.sh
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Users can navigate to the directory that contains CMakeLists.txt and create a build directory.
cd xxxxxxxx # cd <path to where you want to create build directory> mkdir build
Caution: Users can create build directory in any location, and make sure that when compiling, the path provided to
cmakeis the path to where CMakeLists.txt is. -
Navigate to the build directory and then compile.
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Compile for x86 hosts:
cd build cmake .. -DBUILD_PLATFORM=x86 # cmake <path to where the CMakeLists.txt is> make -j
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Compile for ARM hosts:
cd build cmake .. -DBUILD_PLATFORM=arm # cmake <path to where the CMakeLists.txt is> make -j
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After compilation, an executable file named Lite_motion is generated in the build directory.
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Enter the following codes in Terminal to run the program:
./Lite_motion
This section explains main.cpp.
Timer, used to set the algorithm period and obtain the current time:
DRTimer set_timer;
set_timer.TimeInit(int); ///< Timer initialization, input: cycle; unit: ms
set_timer.GetCurrentTime(); ///< Obtain time for algorithm
set_timer.TimerInterrupt() ///< Timer interrupt flag
set_timer.GetIntervalTime(double); ///< Get the current timeAfter binding the IP and port of the robot, SDK will acquire control right and can send the joint control commands:
Sender* send_cmd = new Sender("192.168.1.120",43893); ///< Create a sender thread
send_cmd->RobotStateInit(); ///< Reset all joints to zero and gain control right
send_cmd->SetSend(RobotCmd); ///< Send joint control command
send_cmd->ControlGet(int); ///< Return the control rightSDK receives the joint data from the robot:
Receiver* robot_data_recv = new Receiver(); ///< Create a thread for receiving and parsing
robot_data_recv->GetState(); ///< Receive data from 12 joints
robot_data_recv->RegisterCallBack(CallBack); ///< Registering CallbacksThe data SDK received will be saved into robot_data:
RobotData *robot_data = &robot_data_recv->GetState(); ///< Saving joint data to the robot_data
///< Left front leg：fl_leg[3], the sequence is FL_HipX, FL_HipY, FL_Knee
///< Right front leg：fr_leg[3], the sequence is FR_HipX, FR_HipY, FR_Knee
///< Left hind leg：hl_leg[3], the sequence is HL_HipX, HL_HipY, HL_Knee
///< Right hind leg：hr_leg[3], the sequence is HR_HipX, HR_HipY, HR_Knee
///< All joints：leg_force[12]/joint_data[12], the sequence is FL_HipX, FL_HipY, FL_Knee, FR_HipX, FR_HipY, FR_Knee, HL_HipX, HL_HipY, HL_Knee, HR_HipX, HR_HipY, HR_Knee
robot_data->contact_force.fl_leg[] ///< Contact force on left front foot in X-axis, Y-axis and Z-axis
robot_data->contact_force.fr_leg[] ///< Contact force on right front foot in X-axis, Y-axis and Z-axis
robot_data->contact_force.hl_leg[] ///< Contact force on left hind foot in X-axis, Y-axis and Z-axis
robot_data->contact_force.hr_leg[] ///< Contact force on right hind foot in X-axis, Y-axis and Z-axis
robot_data->contact_force.leg_force[] ///< Contact force on all feet
robot_data->tick ///< Cycle of operation
robot_data->imu ///< IMU data
robot_data->imu.acc_x ///< Acceleration on X-axis
robot_data->imu.acc_y ///< Acceleration on Y-axis
robot_data->imu.acc_z ///< Acceleration on Z-axis
robot_data->imu.angle_pitch ///< Pitch angle
robot_data->imu.angle_roll ///< Roll angle
robot_data->imu.angle_yaw ///< Yaw angle
robot_data->imu.angular_velocity_pitch ///< Pitch angular velocity
robot_data->imu.angular_velocity_roll ///< Roll angular velocity
robot_data->imu.angular_velocity_yaw ///< Yaw angular velocity
robot_data->imu.buffer_byte ///< Buffer data
robot_data->imu.buffer_float ///< Buffer data
robot_data->imu.timestamp ///< Time when the data is obtained
robot_data->joint_data ///< Motor status
robot_data->joint_data.fl_leg[].position ///< Motor position of left front leg
robot_data->joint_data.fl_leg[].temperature ///< Motor temperature of left front leg
robot_data->joint_data.fl_leg[].torque ///< Motor torque of left front leg
robot_data->joint_data.fl_leg[].velocity ///< Motor velocity of left front leg
robot_data->joint_data.joint_data ///< All joint dataRobot joint control command:
RobotCmd robot_joint_cmd; ///< Target data of each joint
///< Left front leg：fl_leg[3], the sequence is FL_HipX, FL_HipY, FL_Knee
///< Right front leg：fr_leg[3], the sequence is FR_HipX, FR_HipY, FR_Knee
///< Left hind leg：hl_leg[3], the sequence is HL_HipX, HL_HipY, HL_Knee
///< Right hind leg：hr_leg[3], the sequence is HR_HipX, HR_HipY, HR_Knee
///< All joints：leg_force[12]/joint_data[12], the sequence is FL_HipX, FL_HipY, FL_Knee, FR_HipX, FR_HipY, FR_Knee, HL_HipX, HL_HipY, HL_Knee, HR_HipX, HR_HipY, HR_Knee
robot_joint_cmd.fl_leg[]->kd; ///< Kd of left front leg
robot_joint_cmd.fl_leg[]->kp; ///< Kp of left front leg
robot_joint_cmd.fl_leg[]->position; ///< Position of left front leg
robot_joint_cmd.fl_leg[]->torque; ///< Torue of left front leg
robot_joint_cmd.fl_leg[]->velocity; ///< Velocity of left front legA simple demo that can make the robot stand:
- Draw the robot's legs in and prepare to stand;
- Record the current time and joint data;
- The robot stands up.
MotionExample robot_set_up_demo; ///< Demo for testing
/// @brief Spend 1 sec drawing the robot's legs in and preparing to stand
/// @param cmd Send control command
/// @param time Current timestamp
/// @param data_state Real-time status data of robot
robot_set_up_demo.PreStandUp(robot_joint_cmd,now_time,*robot_data);
/// @brief Only the current time and angle are recorded
/// @param data Current joint data
/// @param time Current timestamp
robot_set_up_demo.GetInitData(robot_data->motor_state,now_time);
/// @brief Spend 1.5 secs standing up
/// @param cmd Send control command
/// @param time Current timestamp
/// @param data_state Real-time status data of robot
robot_set_up_demo.StandUp(robot_joint_cmd,now_time,*robot_data);