BMT M9 Groep01 / Mbed 2 deprecated Robot1_11

robot

Dependencies:   Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed

Fork of Robot2false by BMT M9 Groep01

main.cpp@50:43ead068c523, 2014-11-02 (annotated)

Committer:
Jolein
Date:
Sun Nov 02 14:19:53 2014 +0000
Revision:
50:43ead068c523
Parent:
49:7ae21c58ba92
Child:
51:26a2af57b8e9
Af. snelheids en positie regeling bij slaan. Alleen positie op de terugweg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tanja2211 0:1594bb11fa13 1 #include "mbed.h"
Tanja2211 0:1594bb11fa13 2 #include "encoder.h"
Tanja2211 0:1594bb11fa13 3 #include "HIDScope.h"
Tanja2211 0:1594bb11fa13 4 #include "MODSERIAL.h"
Tanja2211 0:1594bb11fa13 5 #include "arm_math.h"
Tanja2211 0:1594bb11fa13 6 #include "TouchButton.h"
Tanja2211 0:1594bb11fa13 7
Tanja2211 0:1594bb11fa13 8 #define K_P (0.5)
Tanja2211 0:1594bb11fa13 9 #define K_I (0.02 *TSAMP1)
Tanja2211 0:1594bb11fa13 10 #define K_D (0 /TSAMP1)
Tanja2211 0:1594bb11fa13 11 #define I_LIMIT 1.
Jolein 24:a165dcd86710 12 #define K_Pp (0.2)
Jolein 37:35fda673beb3 13 #define K_Ip (0.02 *TSAMP2)//-----------------------------TSAMP1 veranderd naar TSAMP2
Jolein 37:35fda673beb3 14 #define K_Dp (0 /TSAMP2)//--------------------------------TSAMP1 veranderd naar TSAMP2
Tanja2211 0:1594bb11fa13 15
Tanja2211 0:1594bb11fa13 16 #define TSAMP1 0.01
Tanja2211 0:1594bb11fa13 17 #define TSAMP2 0.01
Tanja2211 0:1594bb11fa13 18 #define WACHTEN 1
Tanja2211 0:1594bb11fa13 19 #define SLAAN 2
Tanja2211 0:1594bb11fa13 20 #define TERUGKEREN 3
Tanja2211 33:2f9c21ac9175 21 #define ANGLEMAX -150
Tanja2211 35:39e6e9941ce4 22 #define ANGLEMIN 0
Tanja2211 0:1594bb11fa13 23
Tanja2211 0:1594bb11fa13 24 //initiating functions
Tanja2211 0:1594bb11fa13 25 void Triceps();
Tanja2211 0:1594bb11fa13 26 void Biceps();
Tanja2211 0:1594bb11fa13 27 void Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 28 void Calibratie_Biceps();
Tanja2211 7:b40bbf5be443 29 float pid(float setspeed, float measurement, bool reset = false);
Jolein 49:7ae21c58ba92 30 float pidpositie(float setposition, float measurement);
Tanja2211 0:1594bb11fa13 31 void motor2aansturing();
Tanja2211 0:1594bb11fa13 32 void motor1aansturing();
Jolein 17:71c5c9bfb7ba 33 void motor1aansturingdeel2();
Tanja2211 0:1594bb11fa13 34
Tanja2211 0:1594bb11fa13 35 //alle initiaties voor EMG
Tanja2211 0:1594bb11fa13 36 MODSERIAL pc(USBTX,USBRX);
Tanja2211 0:1594bb11fa13 37
Tanja2211 0:1594bb11fa13 38 HIDScope scope(4);
Tanja2211 0:1594bb11fa13 39
Tanja2211 0:1594bb11fa13 40 AnalogIn emgB(PTB1); //biceps
Tanja2211 0:1594bb11fa13 41 AnalogIn emgT(PTB2); //tricep
Tanja2211 0:1594bb11fa13 42
Tanja2211 0:1594bb11fa13 43 //*** OBJECTS ***
Tanja2211 0:1594bb11fa13 44 //bicep
Tanja2211 0:1594bb11fa13 45 uint16_t emg_valueB;
Tanja2211 0:1594bb11fa13 46 float emg_value_f32B;
Tanja2211 0:1594bb11fa13 47 float filtered_emgB;
Tanja2211 0:1594bb11fa13 48 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
Tanja2211 0:1594bb11fa13 49 int yB1, yB2, yB3;
Tanja2211 0:1594bb11fa13 50 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14, B15, B16, B17, B18, B19, B20, B21, B22, B23, B24, B25, B26, B27, B28, B29, MOVAVG_B; //moving average objects
Tanja2211 0:1594bb11fa13 51 float B30, B31, B32, B33, B34, B35, B36, B37, B38, B39, B40, B41, B42, B43, B44, B45, B46, B47, B48, B49, B50, B51, B52, B53, B54, B55, B56, B57, B58, B59;
Tanja2211 0:1594bb11fa13 52 int snelheidsstand;
Tanja2211 0:1594bb11fa13 53 //tricep
Tanja2211 0:1594bb11fa13 54 uint16_t emg_valueT;
Tanja2211 0:1594bb11fa13 55 float emg_value_f32T;
Tanja2211 0:1594bb11fa13 56 float filtered_emgT;
Tanja2211 0:1594bb11fa13 57 float drempelwaardeT;
Tanja2211 0:1594bb11fa13 58 int yT1, yT2;
Tanja2211 0:1594bb11fa13 59 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,MOVAVG_T; //moving average objects
Tanja2211 0:1594bb11fa13 60 float MOVAVG_Positie1, MOVAVG_Positie2;
Tanja2211 0:1594bb11fa13 61 int positie;
Tanja2211 0:1594bb11fa13 62
Tanja2211 0:1594bb11fa13 63 //*** FILTERS ***
Tanja2211 0:1594bb11fa13 64 arm_biquad_casd_df1_inst_f32 notchT;
Tanja2211 0:1594bb11fa13 65 arm_biquad_casd_df1_inst_f32 notchB;
Tanja2211 0:1594bb11fa13 66 //constants for 50Hz
Tanja2211 0:1594bb11fa13 67 float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 68 float notch_states[4];
Tanja2211 0:1594bb11fa13 69
Tanja2211 0:1594bb11fa13 70 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 0:1594bb11fa13 71 arm_biquad_casd_df1_inst_f32 lowpassB;
Tanja2211 0:1594bb11fa13 72 //constants for 60Hz lowpass
Tanja2211 0:1594bb11fa13 73 float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator
Tanja2211 0:1594bb11fa13 74 float lowpass_states[4];
Tanja2211 0:1594bb11fa13 75
Tanja2211 0:1594bb11fa13 76 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 0:1594bb11fa13 77 arm_biquad_casd_df1_inst_f32 highpassB;
Tanja2211 0:1594bb11fa13 78 //constants for 20Hz highpass
Tanja2211 0:1594bb11fa13 79 float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 80 float highpass_states[4];
Tanja2211 0:1594bb11fa13 81
Jolein 46:8b30338f3f9b 82 /*bool stop;*/
Tanja2211 33:2f9c21ac9175 83 float pwm;
Jolein 48:5b1b90260239 84 float new_pwmpos;
Tanja2211 0:1594bb11fa13 85 float new_pwm;
Tanja2211 0:1594bb11fa13 86 float PWM2 = 0.3; //PWM voor instellen hoek batje
Jolein 24:a165dcd86710 87 int toestand = WACHTEN; //terugkeren?
Jolein 1:5d30a2ea2e11 88 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
Tanja2211 0:1594bb11fa13 89
Tanja2211 0:1594bb11fa13 90
Jolein 24:a165dcd86710 91 Encoder motor1(PTD5,PTD3);
Jolein 24:a165dcd86710 92 Encoder motor2(PTD0,PTD2);
Jolein 24:a165dcd86710 93
Tanja2211 0:1594bb11fa13 94 DigitalOut motordir1(PTA4);
Tanja2211 0:1594bb11fa13 95 DigitalOut motordir2(PTC9);
Tanja2211 0:1594bb11fa13 96 PwmOut pwm_motor1(PTA5);
Tanja2211 0:1594bb11fa13 97 PwmOut pwm_motor2(PTC8);
Tanja2211 0:1594bb11fa13 98
Tanja2211 0:1594bb11fa13 99 DigitalOut myled1(LED1);//red
Tanja2211 0:1594bb11fa13 100 DigitalOut myled2(LED2);//green
Tanja2211 0:1594bb11fa13 101 DigitalOut myled3(LED3);//blue
Tanja2211 0:1594bb11fa13 102
s1340735 36:0c8d4397c02f 103 DigitalOut rood(PTD1);
s1340735 36:0c8d4397c02f 104 DigitalOut groen(PTA13);
s1340735 36:0c8d4397c02f 105 DigitalOut blauw(PTA12);
s1340735 36:0c8d4397c02f 106 DigitalOut wit(PTD4);
s1340735 36:0c8d4397c02f 107
Tanja2211 0:1594bb11fa13 108 /* FRDM-KL25Z built-in touch slider
Tanja2211 0:1594bb11fa13 109 *******************
Tanja2211 0:1594bb11fa13 110 * * * *
Tanja2211 0:1594bb11fa13 111 * 1 * 2 * 3 *
Tanja2211 0:1594bb11fa13 112 * * * *
Tanja2211 0:1594bb11fa13 113 *******************
Tanja2211 0:1594bb11fa13 114 * key 1 will light Red LED -> CALIBRATIE TRICEPS
Tanja2211 0:1594bb11fa13 115 * key 2 will light Green LED -> CALIBRATIE BICEPS
Tanja2211 0:1594bb11fa13 116 * key 3 will light Blue LED -> START*/
Tanja2211 0:1594bb11fa13 117
Tanja2211 0:1594bb11fa13 118
Tanja2211 0:1594bb11fa13 119 enum standen {STAND1=0, STAND2=1, STAND3=2};
Tanja2211 0:1594bb11fa13 120 standen hoek2 = STAND1;
Tanja2211 0:1594bb11fa13 121
Tanja2211 0:1594bb11fa13 122 int main ()
Tanja2211 22:f3a827faa135 123 {
Tanja2211 0:1594bb11fa13 124 pc.baud(115200);
Tanja2211 0:1594bb11fa13 125
Tanja2211 0:1594bb11fa13 126 drempelwaardeT=0;
Tanja2211 0:1594bb11fa13 127 drempelwaardeB1=0;
Tanja2211 0:1594bb11fa13 128 drempelwaardeB2=0;
Tanja2211 0:1594bb11fa13 129 drempelwaardeB3=0;
Tanja2211 0:1594bb11fa13 130
Tanja2211 0:1594bb11fa13 131 TouchButton TButton;
Tanja2211 0:1594bb11fa13 132
Tanja2211 0:1594bb11fa13 133 myled1=1;
Tanja2211 0:1594bb11fa13 134 myled2=1;
Tanja2211 0:1594bb11fa13 135 myled3=1;
Tanja2211 0:1594bb11fa13 136
Tanja2211 0:1594bb11fa13 137 int key=0;
Tanja2211 0:1594bb11fa13 138
Tanja2211 0:1594bb11fa13 139 pc.printf("key 1 calibratie triceps\n");
Tanja2211 0:1594bb11fa13 140 pc.printf("key 2 caliratie biceps\n");
Tanja2211 0:1594bb11fa13 141 pc.printf("key 3 START\n");
Tanja2211 0:1594bb11fa13 142
Tanja2211 0:1594bb11fa13 143 while(true) {
Tanja2211 0:1594bb11fa13 144
Tanja2211 0:1594bb11fa13 145 key = TButton.PressedButton();
Tanja2211 0:1594bb11fa13 146
Tanja2211 0:1594bb11fa13 147 if (key==1) {
Tanja2211 0:1594bb11fa13 148 //rood
Tanja2211 0:1594bb11fa13 149 myled1 = 0;
Tanja2211 0:1594bb11fa13 150 myled2 = 1;
Tanja2211 0:1594bb11fa13 151 myled3 = 1;
s1340735 36:0c8d4397c02f 152 rood=1;
Tanja2211 0:1594bb11fa13 153
s1340735 21:b7fb79882cb8 154 /*pc.printf("calibratie tricep aan\n");
Tanja2211 0:1594bb11fa13 155 wait(2);
Tanja2211 0:1594bb11fa13 156
Tanja2211 0:1594bb11fa13 157 Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 158 drempelwaardeT=MOVAVG_T-1;
Tanja2211 0:1594bb11fa13 159 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
Tanja2211 0:1594bb11fa13 160
Tanja2211 0:1594bb11fa13 161 pc.printf("calibratie tricep klaar,\n");
Tanja2211 0:1594bb11fa13 162 myled1 = 0;
Tanja2211 0:1594bb11fa13 163 myled2 = 0;
Tanja2211 0:1594bb11fa13 164 myled3 = 0;
s1340735 36:0c8d4397c02f 165 wit=1;
s1340735 36:0c8d4397c02f 166
Tanja2211 0:1594bb11fa13 167 wait(2);
Tanja2211 0:1594bb11fa13 168
Tanja2211 0:1594bb11fa13 169 myled1=1;
Tanja2211 0:1594bb11fa13 170 myled2=1;
s1340735 36:0c8d4397c02f 171 myled3=1;
s1340735 36:0c8d4397c02f 172 rood=0;
s1340735 36:0c8d4397c02f 173 wit=0;*/
Tanja2211 0:1594bb11fa13 174 }
Tanja2211 0:1594bb11fa13 175 if (key==2) {
Tanja2211 0:1594bb11fa13 176 //green
Tanja2211 0:1594bb11fa13 177 myled1 = 1;
Tanja2211 0:1594bb11fa13 178 myled2 = 0;
Tanja2211 0:1594bb11fa13 179 myled3 = 1;
s1340735 36:0c8d4397c02f 180 groen=1;
Tanja2211 0:1594bb11fa13 181
s1340735 21:b7fb79882cb8 182 /*pc.printf("calibratie bicep snelheid 1 aan\n");
Tanja2211 0:1594bb11fa13 183 wait(2);
Tanja2211 0:1594bb11fa13 184
Tanja2211 0:1594bb11fa13 185 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 186 drempelwaardeB1=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 187 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
Tanja2211 0:1594bb11fa13 188 myled1 = 0;
Tanja2211 0:1594bb11fa13 189 myled2 = 0;
Tanja2211 0:1594bb11fa13 190 myled3 = 0;
s1340735 36:0c8d4397c02f 191 wit=1;
Tanja2211 0:1594bb11fa13 192 wait(2);
Tanja2211 0:1594bb11fa13 193
s1340735 36:0c8d4397c02f 194 wit=0;
Tanja2211 0:1594bb11fa13 195 myled1 = 1;
Tanja2211 0:1594bb11fa13 196 myled2 = 0;
Tanja2211 0:1594bb11fa13 197 myled3 = 1;
Tanja2211 0:1594bb11fa13 198
Tanja2211 0:1594bb11fa13 199 pc.printf("calibratie biceps snelheid 2 aan\n");
Tanja2211 0:1594bb11fa13 200 wait(2);
Tanja2211 0:1594bb11fa13 201
Tanja2211 0:1594bb11fa13 202 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 203 drempelwaardeB2=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 204 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
Tanja2211 0:1594bb11fa13 205 myled1 = 0;
Tanja2211 0:1594bb11fa13 206 myled2 = 0;
Tanja2211 0:1594bb11fa13 207 myled3 = 0;
s1340735 36:0c8d4397c02f 208 wit=1;
s1340735 36:0c8d4397c02f 209
Tanja2211 0:1594bb11fa13 210 wait(2);
Tanja2211 0:1594bb11fa13 211
s1340735 36:0c8d4397c02f 212 wit=0;
Tanja2211 0:1594bb11fa13 213 myled1 = 1;
Tanja2211 0:1594bb11fa13 214 myled2 = 0;
Tanja2211 0:1594bb11fa13 215 myled3 = 1;
Tanja2211 0:1594bb11fa13 216
Tanja2211 0:1594bb11fa13 217 pc.printf("calibratie biceps snelheid 3 aan\n");
Tanja2211 0:1594bb11fa13 218 wait(2);
Tanja2211 0:1594bb11fa13 219 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 220 drempelwaardeB3=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 221 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
Tanja2211 0:1594bb11fa13 222 myled1 = 0;
Tanja2211 0:1594bb11fa13 223 myled2 = 0;
Tanja2211 0:1594bb11fa13 224 myled3 = 0;
s1340735 36:0c8d4397c02f 225 wit=1;
s1340735 36:0c8d4397c02f 226
Tanja2211 0:1594bb11fa13 227 wait(2);
Tanja2211 0:1594bb11fa13 228
Tanja2211 0:1594bb11fa13 229 pc.printf("caliratie biceps is klaar\n");
s1340735 36:0c8d4397c02f 230 wit=0;
s1340735 36:0c8d4397c02f 231 groen=0;
Tanja2211 0:1594bb11fa13 232 myled1=1;
Tanja2211 0:1594bb11fa13 233 myled2=1;
s1340735 21:b7fb79882cb8 234 myled3=1;*/
Tanja2211 0:1594bb11fa13 235 }
Tanja2211 0:1594bb11fa13 236
Tanja2211 0:1594bb11fa13 237 if (key==3) {
Tanja2211 0:1594bb11fa13 238 //blue
Tanja2211 0:1594bb11fa13 239 myled1 = 1;
Tanja2211 0:1594bb11fa13 240 myled2 = 1;
Tanja2211 0:1594bb11fa13 241 myled3 = 0;
s1340735 36:0c8d4397c02f 242 blauw=1;
s1340735 21:b7fb79882cb8 243 /*wait(3);
Tanja2211 0:1594bb11fa13 244
Tanja2211 0:1594bb11fa13 245 if(drempelwaardeT==0) {
Tanja2211 0:1594bb11fa13 246 pc.printf("geen waarde calibratie TRICEPS \n");
Tanja2211 0:1594bb11fa13 247 myled1 = 0;
Tanja2211 0:1594bb11fa13 248 myled2 = 0;
Tanja2211 0:1594bb11fa13 249 myled3 = 0;
s1340735 36:0c8d4397c02f 250 wit=1;
s1340735 36:0c8d4397c02f 251 rood=1;
Tanja2211 0:1594bb11fa13 252 }
Tanja2211 0:1594bb11fa13 253 if (drempelwaardeB1==0) {
Tanja2211 0:1594bb11fa13 254 pc.printf("geen waarde calibratie BICEPS 1 \n");
Tanja2211 0:1594bb11fa13 255 myled1 = 0;
Tanja2211 0:1594bb11fa13 256 myled2 = 0;
Tanja2211 0:1594bb11fa13 257 myled3 = 0;
s1340735 36:0c8d4397c02f 258 wit=1;
s1340735 36:0c8d4397c02f 259 groen=1;
Tanja2211 0:1594bb11fa13 260 }
Tanja2211 0:1594bb11fa13 261 if (drempelwaardeB2==0) {
Tanja2211 0:1594bb11fa13 262 pc.printf("geen waarde calibratie BICEPS 2 \n");
Tanja2211 0:1594bb11fa13 263 myled1 = 0;
Tanja2211 0:1594bb11fa13 264 myled2 = 0;
Tanja2211 0:1594bb11fa13 265 myled3 = 0;
s1340735 36:0c8d4397c02f 266 wit=1;
s1340735 36:0c8d4397c02f 267 groen=1;
Tanja2211 0:1594bb11fa13 268 }
Tanja2211 0:1594bb11fa13 269 if (drempelwaardeB3==0) {
Tanja2211 0:1594bb11fa13 270 pc.printf("geen waarde calibratie BICEPS 3 \n");
Tanja2211 0:1594bb11fa13 271 myled1 = 0;
Tanja2211 0:1594bb11fa13 272 myled2 = 0;
Tanja2211 0:1594bb11fa13 273 myled3 = 0;
s1340735 36:0c8d4397c02f 274 wit=1;
s1340735 36:0c8d4397c02f 275 groen=1;
s1340735 21:b7fb79882cb8 276 } else {*/
Tanja2211 0:1594bb11fa13 277
Tanja2211 22:f3a827faa135 278 /*pc.printf("eerst positie dan snelheid aangeven /n");
Tanja2211 0:1594bb11fa13 279
Tanja2211 22:f3a827faa135 280 //bepaling van positie met triceps 1
Tanja2211 22:f3a827faa135 281 Ticker log_timerT1;
Tanja2211 22:f3a827faa135 282
Tanja2211 22:f3a827faa135 283 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 284 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 285 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 286
Tanja2211 22:f3a827faa135 287 myled1 = 0;
Tanja2211 22:f3a827faa135 288 myled2 = 1;
Tanja2211 22:f3a827faa135 289 myled3 = 1;
s1340735 36:0c8d4397c02f 290 rood=1;
Tanja2211 22:f3a827faa135 291
Tanja2211 22:f3a827faa135 292 log_timerT1.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 293 wait(2);
Tanja2211 22:f3a827faa135 294 log_timerT1.detach();
Tanja2211 0:1594bb11fa13 295
Tanja2211 22:f3a827faa135 296 // positie van batje met behulp van Triceps
Tanja2211 0:1594bb11fa13 297
Tanja2211 22:f3a827faa135 298 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 299 yT1=1;
Tanja2211 22:f3a827faa135 300 } else {
Tanja2211 22:f3a827faa135 301 yT1=0;
Tanja2211 22:f3a827faa135 302 }
Tanja2211 0:1594bb11fa13 303
Tanja2211 22:f3a827faa135 304 pc.printf("Triceps meting 1 is klaar.\n");
Tanja2211 22:f3a827faa135 305 myled1 = 1;
Tanja2211 22:f3a827faa135 306 myled2 = 1;
Tanja2211 22:f3a827faa135 307 myled3 = 0;
s1340735 36:0c8d4397c02f 308 rood=0;
s1340735 36:0c8d4397c02f 309
Tanja2211 22:f3a827faa135 310 wait(3);
Tanja2211 0:1594bb11fa13 311
Tanja2211 22:f3a827faa135 312 //bepaling van positie met tricep 2
Tanja2211 22:f3a827faa135 313 Ticker log_timerT2;
Tanja2211 22:f3a827faa135 314
Tanja2211 22:f3a827faa135 315 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 316 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 317 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 318
Tanja2211 22:f3a827faa135 319 myled1 = 0;
Tanja2211 22:f3a827faa135 320 myled2 = 1;
Tanja2211 22:f3a827faa135 321 myled3 = 1;
s1340735 36:0c8d4397c02f 322 rood=1;
Tanja2211 0:1594bb11fa13 323
Tanja2211 22:f3a827faa135 324 log_timerT2.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 325 wait(2);
Tanja2211 22:f3a827faa135 326 log_timerT2.detach();
Tanja2211 0:1594bb11fa13 327
Tanja2211 22:f3a827faa135 328 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 329 yT2=1;
Tanja2211 22:f3a827faa135 330 } else {
Tanja2211 22:f3a827faa135 331 yT2=0;
Tanja2211 22:f3a827faa135 332 }
Tanja2211 22:f3a827faa135 333
Tanja2211 22:f3a827faa135 334 pc.printf("Triceps meting 2 is klaar.\n");
Tanja2211 22:f3a827faa135 335 myled1 = 1;
Tanja2211 22:f3a827faa135 336 myled2 = 1;
Tanja2211 22:f3a827faa135 337 myled3 = 0;
s1340735 36:0c8d4397c02f 338 rood=0;
Tanja2211 22:f3a827faa135 339
Tanja2211 22:f3a827faa135 340 //*** INPUT MOTOR 2 ***
Tanja2211 22:f3a827faa135 341 positie=yT1+yT2;
Tanja2211 0:1594bb11fa13 342
Tanja2211 22:f3a827faa135 343 //controle positie op scherm
Tanja2211 22:f3a827faa135 344 if (positie==0) {
Tanja2211 22:f3a827faa135 345 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 22:f3a827faa135 346 } else {
Tanja2211 22:f3a827faa135 347 if (positie==1) {
Tanja2211 22:f3a827faa135 348 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 22:f3a827faa135 349 } else {
Tanja2211 22:f3a827faa135 350 if (positie==2) {
Tanja2211 22:f3a827faa135 351 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 22:f3a827faa135 352 }
Tanja2211 22:f3a827faa135 353 }
Tanja2211 22:f3a827faa135 354 }
Tanja2211 0:1594bb11fa13 355
Tanja2211 22:f3a827faa135 356 Ticker looptimer2;
Tanja2211 22:f3a827faa135 357 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 22:f3a827faa135 358 wait(8);
Tanja2211 22:f3a827faa135 359 looptimer2.detach();
Tanja2211 22:f3a827faa135 360 pc.printf("Detach Motor 1\n"); */
Tanja2211 22:f3a827faa135 361
Tanja2211 22:f3a827faa135 362 //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 22:f3a827faa135 363 wait(2);
Tanja2211 22:f3a827faa135 364 /* Ticker log_timerB;
Tanja2211 0:1594bb11fa13 365
Tanja2211 22:f3a827faa135 366 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 367 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 368 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 369
Tanja2211 22:f3a827faa135 370 myled1 = 1;
Tanja2211 22:f3a827faa135 371 myled2 = 0;
Tanja2211 22:f3a827faa135 372 myled3 = 1;
s1340735 36:0c8d4397c02f 373 groen=1;
Tanja2211 22:f3a827faa135 374
Tanja2211 22:f3a827faa135 375 log_timerB.attach(Biceps,0.005);
Tanja2211 22:f3a827faa135 376 wait(2);
Tanja2211 22:f3a827faa135 377 log_timerB.detach();
Tanja2211 22:f3a827faa135 378
Tanja2211 22:f3a827faa135 379 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 380
Tanja2211 22:f3a827faa135 381 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 22:f3a827faa135 382 yB1=1;
Tanja2211 22:f3a827faa135 383 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 22:f3a827faa135 384 yB2=1;
Tanja2211 22:f3a827faa135 385 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 22:f3a827faa135 386 yB3=1;
Tanja2211 22:f3a827faa135 387 } else {
Tanja2211 22:f3a827faa135 388 yB3=0;
Tanja2211 22:f3a827faa135 389 }
Tanja2211 22:f3a827faa135 390 } else {
Tanja2211 22:f3a827faa135 391 yB2=0;
Tanja2211 22:f3a827faa135 392 }
Tanja2211 22:f3a827faa135 393 } else {
Tanja2211 22:f3a827faa135 394 yB1=0;
Tanja2211 22:f3a827faa135 395 }
Tanja2211 0:1594bb11fa13 396
Tanja2211 22:f3a827faa135 397 pc.printf("Biceps meting is klaar.\n");
Tanja2211 22:f3a827faa135 398 myled1 = 1;
Tanja2211 22:f3a827faa135 399 myled2 = 1;
Tanja2211 22:f3a827faa135 400 myled3 = 0;
s1340735 36:0c8d4397c02f 401 groen=0;
Tanja2211 22:f3a827faa135 402
Tanja2211 22:f3a827faa135 403 //*** INPUT MOTOR 1 ***
Tanja2211 22:f3a827faa135 404 snelheidsstand=yB1+yB2+yB3; */
Tanja2211 22:f3a827faa135 405
Tanja2211 22:f3a827faa135 406 snelheidsstand=3;
Tanja2211 22:f3a827faa135 407
Tanja2211 22:f3a827faa135 408 //controle snelheidsstand op scherm
Tanja2211 22:f3a827faa135 409 if (snelheidsstand==0) {
Tanja2211 22:f3a827faa135 410 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 22:f3a827faa135 411 } else {
Tanja2211 22:f3a827faa135 412 if (snelheidsstand==1) {
Tanja2211 22:f3a827faa135 413 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 414 } else {
Tanja2211 22:f3a827faa135 415 if (snelheidsstand==2) {
Tanja2211 22:f3a827faa135 416 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 417 } else {
Tanja2211 22:f3a827faa135 418 if (snelheidsstand==3) {
Tanja2211 22:f3a827faa135 419 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 420 }
Tanja2211 0:1594bb11fa13 421 }
Tanja2211 0:1594bb11fa13 422 }
Tanja2211 22:f3a827faa135 423 }
Tanja2211 0:1594bb11fa13 424
Tanja2211 34:688120048afb 425 Ticker looptimer1;
Tanja2211 22:f3a827faa135 426 //pwm_motor1.write(0.3);
Tanja2211 22:f3a827faa135 427 motordir1 = 1;
Jolein 46:8b30338f3f9b 428 //stop = 0;
Tanja2211 22:f3a827faa135 429 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 29:f26796cca47f 430 wait(2); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 431 looptimer1.detach();
Tanja2211 34:688120048afb 432 pc.printf("detachMotor1\n");
s1340735 36:0c8d4397c02f 433
s1340735 36:0c8d4397c02f 434 pid(0,0,true);
s1340735 36:0c8d4397c02f 435
Tanja2211 22:f3a827faa135 436 Ticker looptimer3;
Jolein 40:207eb8ab507a 437 looptimer3.attach(motor1aansturingdeel2,TSAMP1); //of TSAMP2?....
Tanja2211 33:2f9c21ac9175 438 wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 439 looptimer3.detach();
Tanja2211 22:f3a827faa135 440 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 441
Tanja2211 22:f3a827faa135 442 pwm_motor1.write(0);
Jolein 48:5b1b90260239 443 toestand = WACHTEN; //hierheen verplaatst vanaf motor1aansturingdeel2. Belangrijk!! niet weghalen!!
Tanja2211 0:1594bb11fa13 444
Tanja2211 22:f3a827faa135 445 myled1=1;
Tanja2211 22:f3a827faa135 446 myled2=1;
Tanja2211 22:f3a827faa135 447 myled3=1;
s1340735 36:0c8d4397c02f 448 groen=0;
s1340735 36:0c8d4397c02f 449 blauw=0;
s1340735 36:0c8d4397c02f 450 }
s1340735 36:0c8d4397c02f 451 }
Tanja2211 22:f3a827faa135 452 //}
Tanja2211 0:1594bb11fa13 453 }//end int main
Tanja2211 0:1594bb11fa13 454
Tanja2211 0:1594bb11fa13 455
Tanja2211 9:ba7f541cef3a 456 float pid(float setspeed, float measurement, bool reset )
Tanja2211 0:1594bb11fa13 457 {
Tanja2211 0:1594bb11fa13 458 float error;
Tanja2211 0:1594bb11fa13 459 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 460 float out_p = 0;
Tanja2211 0:1594bb11fa13 461 static float out_i = 0;
Tanja2211 0:1594bb11fa13 462 float out_d = 0;
Tanja2211 22:f3a827faa135 463 if(reset==true) {
Jolein 13:722697791695 464 out_i = 0;
Jolein 13:722697791695 465 prev_error = 0;
Jolein 13:722697791695 466 }
Tanja2211 0:1594bb11fa13 467 error = setspeed-measurement;
Tanja2211 0:1594bb11fa13 468 out_p = error*K_P;
Tanja2211 0:1594bb11fa13 469 out_i += error*K_I;
Tanja2211 0:1594bb11fa13 470 out_d = (error-prev_error)*K_D;
Tanja2211 0:1594bb11fa13 471 prev_error = error;
Tanja2211 0:1594bb11fa13 472 return out_p + out_i + out_d;
Tanja2211 0:1594bb11fa13 473 }
Tanja2211 0:1594bb11fa13 474
Jolein 49:7ae21c58ba92 475 float pidpositie(float setposition, float measurement)
Jolein 24:a165dcd86710 476 {
Jolein 24:a165dcd86710 477 float error;
Jolein 24:a165dcd86710 478 static float prev_error = 0;
Jolein 24:a165dcd86710 479 float out_p = 0;
Jolein 24:a165dcd86710 480 static float out_i = 0;
Jolein 24:a165dcd86710 481 float out_d = 0;
Tanja2211 27:9dea548d6d6c 482 error = setposition-measurement;
Jolein 24:a165dcd86710 483 out_p = error*K_Pp;
Jolein 24:a165dcd86710 484 out_i += error*K_Ip;
Jolein 24:a165dcd86710 485 out_d = (error-prev_error)*K_Dp;
Jolein 24:a165dcd86710 486 prev_error = error;
Jolein 24:a165dcd86710 487 return out_p + out_i + out_d;
Jolein 24:a165dcd86710 488 }
Jolein 24:a165dcd86710 489
Tanja2211 0:1594bb11fa13 490 void Triceps()
Tanja2211 0:1594bb11fa13 491 {
Tanja2211 0:1594bb11fa13 492 //Triceps lezen
Tanja2211 0:1594bb11fa13 493 emg_valueT = emgT.read_u16();
Tanja2211 0:1594bb11fa13 494 emg_value_f32T = emgT.read();
Tanja2211 0:1594bb11fa13 495
Tanja2211 0:1594bb11fa13 496 //Triceps filteren
Tanja2211 0:1594bb11fa13 497 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
Tanja2211 0:1594bb11fa13 498 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 499 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 500 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 501 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 502
Tanja2211 0:1594bb11fa13 503 //Triceps moving average
Tanja2211 0:1594bb11fa13 504 T0=filtered_emgT*1000;
Tanja2211 0:1594bb11fa13 505 MOVAVG_T=T0*0.03333+T1*0.03333+T2*0.03333+T3*0.03333+T4*0.03333+T5*0.03333+T6*0.03333+T7*0.03333+T8*0.03333+T9*0.03333+T10*0.03333+T11*0.03333+T12*0.03333+T13*0.03333+T14*0.03333+T15*0.03333+T16*0.03333+T17*0.03333+T18*0.03333+T19*0.03333+T20*0.03333+T21*0.03333+T22*0.03333+T23*0.03333+T24*0.03333+T25*0.03333+T26*0.03333+T27*0.03333+T28*0.03333+T29*0.03333;
Tanja2211 0:1594bb11fa13 506 T29=T28;
Tanja2211 0:1594bb11fa13 507 T28=T27;
Tanja2211 0:1594bb11fa13 508 T27=T26;
Tanja2211 0:1594bb11fa13 509 T26=T25;
Tanja2211 0:1594bb11fa13 510 T25=T24;
Tanja2211 0:1594bb11fa13 511 T24=T23;
Tanja2211 0:1594bb11fa13 512 T23=T22;
Tanja2211 0:1594bb11fa13 513 T22=T21;
Tanja2211 0:1594bb11fa13 514 T21=T20;
Tanja2211 0:1594bb11fa13 515 T20=T19;
Tanja2211 0:1594bb11fa13 516 T19=T18;
Tanja2211 0:1594bb11fa13 517 T18=T17;
Tanja2211 0:1594bb11fa13 518 T17=T16;
Tanja2211 0:1594bb11fa13 519 T16=T15;
Tanja2211 0:1594bb11fa13 520 T15=T14;
Tanja2211 0:1594bb11fa13 521 T14=T13;
Tanja2211 0:1594bb11fa13 522 T13=T12;
Tanja2211 0:1594bb11fa13 523 T12=T11;
Tanja2211 0:1594bb11fa13 524 T11=T10;
Tanja2211 0:1594bb11fa13 525 T10=T9;
Tanja2211 0:1594bb11fa13 526 T9=T8;
Tanja2211 0:1594bb11fa13 527 T8=T7;
Tanja2211 0:1594bb11fa13 528 T7=T6;
Tanja2211 0:1594bb11fa13 529 T6=T5;
Tanja2211 0:1594bb11fa13 530 T5=T4;
Tanja2211 0:1594bb11fa13 531 T4=T3;
Tanja2211 0:1594bb11fa13 532 T3=T2;
Tanja2211 0:1594bb11fa13 533 T2=T1;
Tanja2211 0:1594bb11fa13 534 T1=T0;
Tanja2211 0:1594bb11fa13 535
Tanja2211 0:1594bb11fa13 536 //sturen naar scherm (Realterm)
Tanja2211 0:1594bb11fa13 537 pc.printf("Moving average T %f\r\n",MOVAVG_T);
Tanja2211 0:1594bb11fa13 538
Tanja2211 0:1594bb11fa13 539 //sturen naar HID Scope
Tanja2211 20:99a8e9da2d6d 540 /*scope.set(0,emg_valueT); //ruwe data
Tanja2211 0:1594bb11fa13 541 scope.set(1,filtered_emgT); //filtered
Tanja2211 20:99a8e9da2d6d 542 scope.send();*/
Tanja2211 0:1594bb11fa13 543 }
Tanja2211 0:1594bb11fa13 544
Tanja2211 0:1594bb11fa13 545 void Biceps()
Tanja2211 0:1594bb11fa13 546 {
Tanja2211 0:1594bb11fa13 547 //Biceps lezen
Tanja2211 0:1594bb11fa13 548 emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Tanja2211 0:1594bb11fa13 549 emg_value_f32B = emgB.read();
Tanja2211 0:1594bb11fa13 550
Tanja2211 0:1594bb11fa13 551 //Biceps filteren
Tanja2211 0:1594bb11fa13 552 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 553 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 554 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 555 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 556 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 557
Tanja2211 0:1594bb11fa13 558 //Biceps moving average
Tanja2211 0:1594bb11fa13 559 B0=filtered_emgB*1000;
Tanja2211 0:1594bb11fa13 560 MOVAVG_B=B0*0.01667+B1*0.01667+B2*0.01667+B3*0.01667+B4*0.01667+B5*0.01667+B6*0.01667+B7*0.01667+B8*0.01667+B9*0.01667+B10*0.01667+B11*0.01667+B12*0.01667+B13*0.01667+B14*0.01667+B15*0.01667+B16*0.01667+B17*0.01667+B18*0.01667+B19*0.01667+B20*0.01667+B21*0.01667+B22*0.01667+B23*0.01667+B24*0.01667+B25*0.01667+B26*0.01667+B27*0.01667+B28*0.01667+B29*0.01667+B30*0.01667+B31*0.01667+B32*0.01667+B33*0.01667+B34*0.01667+B35*0.01667+B36*0.01667+B37*0.01667+B38*0.01667+B39*0.01667+B40*0.01667+B41*0.01667+B42*0.01667+B43*0.01667+B44*0.01667+B45*0.01667+B46*0.01667+B47*0.01667+B48*0.01667+B49*0.01667+B50*0.01667+B51*0.01667+B52*0.01667+B53*0.01667+B54*0.01667+B55*0.01667+B56*0.01667+B57*0.01667+B58*0.01667+B59*0.01667;
Tanja2211 0:1594bb11fa13 561 B59=B58;
Tanja2211 0:1594bb11fa13 562 B58=B57;
Tanja2211 0:1594bb11fa13 563 B57=B56;
Tanja2211 0:1594bb11fa13 564 B56=B55;
Tanja2211 0:1594bb11fa13 565 B55=B54;
Tanja2211 0:1594bb11fa13 566 B54=B53;
Tanja2211 0:1594bb11fa13 567 B53=B52;
Tanja2211 0:1594bb11fa13 568 B52=B51;
Tanja2211 0:1594bb11fa13 569 B51=B50;
Tanja2211 0:1594bb11fa13 570 B50=B48;
Tanja2211 0:1594bb11fa13 571 B49=B49;
Tanja2211 0:1594bb11fa13 572 B48=B47;
Tanja2211 0:1594bb11fa13 573 B47=B46;
Tanja2211 0:1594bb11fa13 574 B46=B45;
Tanja2211 0:1594bb11fa13 575 B45=B44;
Tanja2211 0:1594bb11fa13 576 B44=B43;
Tanja2211 0:1594bb11fa13 577 B43=B42;
Tanja2211 0:1594bb11fa13 578 B42=B41;
Tanja2211 0:1594bb11fa13 579 B41=B40;
Tanja2211 0:1594bb11fa13 580 B40=B39;
Tanja2211 0:1594bb11fa13 581 B39=B38;
Tanja2211 0:1594bb11fa13 582 B38=B37;
Tanja2211 0:1594bb11fa13 583 B37=B36;
Tanja2211 0:1594bb11fa13 584 B36=B35;
Tanja2211 0:1594bb11fa13 585 B35=B34;
Tanja2211 0:1594bb11fa13 586 B34=B33;
Tanja2211 0:1594bb11fa13 587 B33=B32;
Tanja2211 0:1594bb11fa13 588 B32=B31;
Tanja2211 0:1594bb11fa13 589 B31=B30;
Tanja2211 0:1594bb11fa13 590 B30=B29;
Tanja2211 0:1594bb11fa13 591 B29=B28;
Tanja2211 0:1594bb11fa13 592 B28=B27;
Tanja2211 0:1594bb11fa13 593 B27=B26;
Tanja2211 0:1594bb11fa13 594 B26=B25;
Tanja2211 0:1594bb11fa13 595 B25=B24;
Tanja2211 0:1594bb11fa13 596 B24=B23;
Tanja2211 0:1594bb11fa13 597 B23=B22;
Tanja2211 0:1594bb11fa13 598 B22=B21;
Tanja2211 0:1594bb11fa13 599 B21=B20;
Tanja2211 0:1594bb11fa13 600 B20=B19;
Tanja2211 0:1594bb11fa13 601 B19=B18;
Tanja2211 0:1594bb11fa13 602 B18=B17;
Tanja2211 0:1594bb11fa13 603 B17=B16;
Tanja2211 0:1594bb11fa13 604 B16=B15;
Tanja2211 0:1594bb11fa13 605 B15=B14;
Tanja2211 0:1594bb11fa13 606 B14=B13;
Tanja2211 0:1594bb11fa13 607 B13=B12;
Tanja2211 0:1594bb11fa13 608 B12=B11;
Tanja2211 0:1594bb11fa13 609 B11=B10;
Tanja2211 0:1594bb11fa13 610 B10=B9;
Tanja2211 0:1594bb11fa13 611 B9=B8;
Tanja2211 0:1594bb11fa13 612 B8=B7;
Tanja2211 0:1594bb11fa13 613 B7=B6;
Tanja2211 0:1594bb11fa13 614 B6=B5;
Tanja2211 0:1594bb11fa13 615 B5=B4;
Tanja2211 0:1594bb11fa13 616 B4=B3;
Tanja2211 0:1594bb11fa13 617 B3=B2;
Tanja2211 0:1594bb11fa13 618 B2=B1;
Tanja2211 0:1594bb11fa13 619 B1=B0;
Tanja2211 0:1594bb11fa13 620
Tanja2211 0:1594bb11fa13 621 //sturen naar scherm
Tanja2211 0:1594bb11fa13 622 pc.printf("Moving average B %f\r\n",MOVAVG_B);
Tanja2211 0:1594bb11fa13 623
Tanja2211 0:1594bb11fa13 624 //naar HID Scope
Tanja2211 20:99a8e9da2d6d 625 /*scope.set(2,emg_valueB); //ruwe data
Tanja2211 0:1594bb11fa13 626 scope.set(3,filtered_emgB); //filtered
Tanja2211 20:99a8e9da2d6d 627 scope.send();*/
Tanja2211 0:1594bb11fa13 628 }
Tanja2211 0:1594bb11fa13 629
Tanja2211 0:1594bb11fa13 630 void Calibratie_Triceps()
Tanja2211 0:1594bb11fa13 631 {
Tanja2211 0:1594bb11fa13 632 Ticker log_timerT;
Tanja2211 0:1594bb11fa13 633
Tanja2211 0:1594bb11fa13 634 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 635 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 636 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 637
Tanja2211 0:1594bb11fa13 638 log_timerT.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 639 wait(2);
Tanja2211 0:1594bb11fa13 640 log_timerT.detach();
Tanja2211 0:1594bb11fa13 641 }
Tanja2211 0:1594bb11fa13 642
Tanja2211 0:1594bb11fa13 643 void Calibratie_Biceps()
Tanja2211 0:1594bb11fa13 644 {
Tanja2211 0:1594bb11fa13 645 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 646
Tanja2211 0:1594bb11fa13 647 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 648 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 649 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 650
Tanja2211 0:1594bb11fa13 651 log_timerB.attach(Biceps, 0.005);
Tanja2211 0:1594bb11fa13 652 wait(2);
Tanja2211 0:1594bb11fa13 653 log_timerB.detach();
Tanja2211 0:1594bb11fa13 654 }
Tanja2211 0:1594bb11fa13 655
Tanja2211 0:1594bb11fa13 656 void motor2aansturing()
Tanja2211 0:1594bb11fa13 657 {
Tanja2211 0:1594bb11fa13 658 if (positie == 0) {
Tanja2211 0:1594bb11fa13 659 if (motor2.getPosition()>= 0) {
Tanja2211 0:1594bb11fa13 660 motordir2 = 1;
Tanja2211 0:1594bb11fa13 661 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 662 } else {
Tanja2211 0:1594bb11fa13 663 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 664 }
Tanja2211 0:1594bb11fa13 665 }
Tanja2211 0:1594bb11fa13 666 if (positie ==1) {
Tanja2211 0:1594bb11fa13 667 if (motor2.getPosition()>= 2) {
Tanja2211 0:1594bb11fa13 668 motordir2 = 1;
Tanja2211 0:1594bb11fa13 669 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 670 }
Tanja2211 0:1594bb11fa13 671 if (motor2.getPosition()<= 2) {
Tanja2211 0:1594bb11fa13 672 motordir2 = 0;
Tanja2211 0:1594bb11fa13 673 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 674 } else {
Tanja2211 0:1594bb11fa13 675 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 676 }
Tanja2211 0:1594bb11fa13 677 }
Tanja2211 0:1594bb11fa13 678 if (positie ==2) {
Tanja2211 0:1594bb11fa13 679 if (motor2.getPosition()<= 4) {
Tanja2211 0:1594bb11fa13 680 motordir2 = 0;
Tanja2211 0:1594bb11fa13 681 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 682 } else {
Tanja2211 0:1594bb11fa13 683 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 684 }
Tanja2211 0:1594bb11fa13 685 } //end if
Tanja2211 0:1594bb11fa13 686 }
Tanja2211 0:1594bb11fa13 687
Tanja2211 0:1594bb11fa13 688 void motor1aansturing()
Tanja2211 0:1594bb11fa13 689 {
Jolein 40:207eb8ab507a 690 switch(toestand) {
Jolein 38:cc14faf38326 691 case SLAAN:
Jolein 44:130fa54388ef 692 pc.printf("SLAAN\n");
Jolein 48:5b1b90260239 693 new_pwm = pid(setspeed, motor1.getSpeed());
Jolein 38:cc14faf38326 694 pwm_motor1.write(new_pwm);
Jolein 38:cc14faf38326 695 motordir1 = 1;
Jolein 44:130fa54388ef 696 if (motor1.getPosition() <= ANGLEMAX) {
Jolein 44:130fa54388ef 697 toestand = TERUGKEREN;
Jolein 44:130fa54388ef 698 pwm_motor1.write(0);//arvid had hier 0,0 gezet?!
Jolein 45:d359aad22a8a 699 pc.printf("toestand = terugkeren, wacht tot 2e ticker\n\r");
Jolein 46:8b30338f3f9b 700 //stop = 1;
Jolein 44:130fa54388ef 701 }
Jolein 44:130fa54388ef 702
Jolein 40:207eb8ab507a 703 break;
Jolein 38:cc14faf38326 704 case WACHTEN:
Jolein 38:cc14faf38326 705 pidpositie(ANGLEMIN,motor1.getPosition()); //dit is nu alleen een waarde, moet vervolgens in een functie terugkomen toch
Jolein 38:cc14faf38326 706 //?? motor1.getPosition(nieuwe positie);
Jolein 38:cc14faf38326 707 pwm_motor1.write(0);
Jolein 38:cc14faf38326 708 pc.printf("ifwachten\n");
Jolein 46:8b30338f3f9b 709 if (snelheidsstand != 0 /*&& stop == 0*/) {
Jolein 40:207eb8ab507a 710 toestand = SLAAN;
Jolein 40:207eb8ab507a 711 pc.printf("slaan \n");
Jolein 41:f2478822cee9 712 switch(snelheidsstand) {
Jolein 41:f2478822cee9 713 case 1:
Jolein 41:f2478822cee9 714 setspeed = V1;
Jolein 41:f2478822cee9 715 pc.printf("Snel 1 \n");
Jolein 41:f2478822cee9 716 break;
Jolein 41:f2478822cee9 717 case 2:
Jolein 41:f2478822cee9 718 setspeed = V2;
Jolein 41:f2478822cee9 719 pc.printf("Snel 2\n");
Jolein 41:f2478822cee9 720 break;
Jolein 41:f2478822cee9 721 case 3:
Jolein 41:f2478822cee9 722 setspeed = V3;
Jolein 41:f2478822cee9 723 pc.printf("Snel 3 \n");
Jolein 41:f2478822cee9 724 break;
Jolein 41:f2478822cee9 725 }//end switch
Jolein 40:207eb8ab507a 726 } //end if
Jolein 40:207eb8ab507a 727 break;
Jolein 48:5b1b90260239 728 case TERUGKEREN:
Jolein 50:43ead068c523 729 if (motor1.getPosition()<=ANGLEMAX) {
Jolein 50:43ead068c523 730 new_pwmpos = pidpositie(ANGLEMAX, motor1.getPosition());
Jolein 50:43ead068c523 731 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 50:43ead068c523 732 motordir1 = 0;
Jolein 50:43ead068c523 733 }
Jolein 50:43ead068c523 734 if (motor1.getPosition()>= ANGLEMAX) {
Jolein 50:43ead068c523 735 new_pwmpos = pidpositie(ANGLEMAX, motor1.getPosition());
Jolein 50:43ead068c523 736 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 50:43ead068c523 737 motordir1 = 1;
Jolein 50:43ead068c523 738 }
Jolein 48:5b1b90260239 739 break;
Jolein 41:f2478822cee9 740 } //end switch
Jolein 39:7d36e1219707 741 scope.set(0,motor1.getPosition());
Jolein 39:7d36e1219707 742 scope.set(1,motor1.getPosition());
Jolein 39:7d36e1219707 743 scope.send();
Jolein 17:71c5c9bfb7ba 744 }
Jolein 17:71c5c9bfb7ba 745
Jolein 17:71c5c9bfb7ba 746 void motor1aansturingdeel2()
Jolein 17:71c5c9bfb7ba 747 {
Jolein 40:207eb8ab507a 748 switch(toestand) {
Jolein 48:5b1b90260239 749 case TERUGKEREN: //deze case moet blijven ookal is het de enige case
Jolein 48:5b1b90260239 750 if (motor1.getPosition()<=ANGLEMIN) {
Jolein 48:5b1b90260239 751 new_pwmpos = pidpositie(ANGLEMIN, motor1.getPosition());//new_PWM benaming zorgt mogelijk voor problemen.
Jolein 48:5b1b90260239 752 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 48:5b1b90260239 753 motordir1 = 0;
Jolein 48:5b1b90260239 754 //pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
Jolein 48:5b1b90260239 755 }
Jolein 48:5b1b90260239 756 if (motor1.getPosition()>= ANGLEMIN) {
Jolein 48:5b1b90260239 757 new_pwmpos = pidpositie(ANGLEMIN, motor1.getPosition());
Jolein 48:5b1b90260239 758 pwm_motor1.write(new_pwmpos); //mogelijk moet dit -new_pwm zijn???
Jolein 48:5b1b90260239 759 motordir1 = 1;
Jolein 43:af480e6823ab 760 //pc.printf("if2\n");
Jolein 43:af480e6823ab 761 }
Jolein 40:207eb8ab507a 762 break;
Jolein 44:130fa54388ef 763 } //end switch
Jolein 39:7d36e1219707 764 scope.set(0,motor1.getPosition()); //ruwe data
Jolein 47:8cef7b0badea 765 scope.set(2,motor1.getPosition()); //filtered...
Jolein 39:7d36e1219707 766 scope.send();
Jolein 48:5b1b90260239 767 }//let op. Geen pidposition(0,0,true) deze moet zelf zorgen dat hij 0 wordt, en daar genoeg tijd voor hebben!!!