![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Alles bij elkaar
Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
main.cpp
- Committer:
- Tanja2211
- Date:
- 2014-10-30
- Revision:
- 9:ba7f541cef3a
- Parent:
- 8:7bf274156e1f
- Child:
- 10:d1260f8e5300
File content as of revision 9:ba7f541cef3a:
#include "mbed.h" #include "encoder.h" #include "HIDScope.h" #include "MODSERIAL.h" #include "arm_math.h" #include "TouchButton.h" #define K_P (0.5) #define K_I (0.02 *TSAMP1) #define K_D (0 /TSAMP1) #define I_LIMIT 1. #define TSAMP1 0.01 #define TSAMP2 0.01 #define WACHTEN 1 #define SLAAN 2 #define TERUGKEREN 3 #define ANGLEMAX -251 #define ANGLEMIN 0 //initiating functions void Triceps(); void Biceps(); void Calibratie_Triceps(); void Calibratie_Biceps(); float pid(float setspeed, float measurement, bool reset = false); void motor2aansturing(); void motor1aansturing(); //alle initiaties voor EMG MODSERIAL pc(USBTX,USBRX); HIDScope scope(4); AnalogIn emgB(PTB1); //biceps AnalogIn emgT(PTB2); //tricep //*** OBJECTS *** //bicep uint16_t emg_valueB; float emg_value_f32B; float filtered_emgB; float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3 int yB1, yB2, yB3; 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 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; int snelheidsstand; //tricep uint16_t emg_valueT; float emg_value_f32T; float filtered_emgT; float drempelwaardeT; int yT1, yT2; 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 float MOVAVG_Positie1, MOVAVG_Positie2; int positie; //*** FILTERS *** arm_biquad_casd_df1_inst_f32 notchT; arm_biquad_casd_df1_inst_f32 notchB; //constants for 50Hz float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2} float notch_states[4]; arm_biquad_casd_df1_inst_f32 lowpassT; arm_biquad_casd_df1_inst_f32 lowpassB; //constants for 60Hz lowpass float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator float lowpass_states[4]; arm_biquad_casd_df1_inst_f32 highpassT; arm_biquad_casd_df1_inst_f32 highpassB; //constants for 20Hz highpass float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2} float highpass_states[4]; bool stop; float new_pwm; float PWM2 = 0.3; //PWM voor instellen hoek batje int toestand = TERUGKEREN; float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s Encoder motor1(PTD5,PTD3); Encoder motor2(PTD0,PTD2); DigitalOut motordir1(PTA4); DigitalOut motordir2(PTC9); PwmOut pwm_motor1(PTA5); PwmOut pwm_motor2(PTC8); DigitalOut myled1(LED1);//red DigitalOut myled2(LED2);//green DigitalOut myled3(LED3);//blue /* FRDM-KL25Z built-in touch slider ******************* * * * * * 1 * 2 * 3 * * * * * ******************* * key 1 will light Red LED -> CALIBRATIE TRICEPS * key 2 will light Green LED -> CALIBRATIE BICEPS * key 3 will light Blue LED -> START*/ enum standen {STAND1=0, STAND2=1, STAND3=2}; standen hoek2 = STAND1; int main () { pc.baud(115200); drempelwaardeT=0; drempelwaardeB1=0; drempelwaardeB2=0; drempelwaardeB3=0; TouchButton TButton; myled1=1; myled2=1; myled3=1; int key=0; pc.printf("key 1 calibratie triceps\n"); pc.printf("key 2 caliratie biceps\n"); pc.printf("key 3 START\n"); while(true) { key = TButton.PressedButton(); if (key==1) { //rood myled1 = 0; myled2 = 1; myled3 = 1; pc.printf("calibratie tricep aan\n"); wait(2); Calibratie_Triceps(); drempelwaardeT=MOVAVG_T-1; pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT); pc.printf("calibratie tricep klaar,\n"); myled1 = 0; myled2 = 0; myled3 = 0; wait(2); myled1=1; myled2=1; myled3=1; } if (key==2) { //green myled1 = 1; myled2 = 0; myled3 = 1; pc.printf("calibratie bicep snelheid 1 aan\n"); wait(2); Calibratie_Biceps(); drempelwaardeB1=MOVAVG_B-1; pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1); myled1 = 0; myled2 = 0; myled3 = 0; wait(2); myled1 = 1; myled2 = 0; myled3 = 1; pc.printf("calibratie biceps snelheid 2 aan\n"); wait(2); Calibratie_Biceps(); drempelwaardeB2=MOVAVG_B-1; pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2); myled1 = 0; myled2 = 0; myled3 = 0; wait(2); myled1 = 1; myled2 = 0; myled3 = 1; pc.printf("calibratie biceps snelheid 3 aan\n"); wait(2); Calibratie_Biceps(); drempelwaardeB3=MOVAVG_B-1; pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3); myled1 = 0; myled2 = 0; myled3 = 0; wait(2); pc.printf("caliratie biceps is klaar\n"); myled1=1; myled2=1; myled3=1; } if (key==3) { //blue myled1 = 1; myled2 = 1; myled3 = 0; wait(3); if(drempelwaardeT==0) { pc.printf("geen waarde calibratie TRICEPS \n"); myled1 = 0; myled2 = 0; myled3 = 0; } if (drempelwaardeB1==0) { pc.printf("geen waarde calibratie BICEPS 1 \n"); myled1 = 0; myled2 = 0; myled3 = 0; } if (drempelwaardeB2==0) { pc.printf("geen waarde calibratie BICEPS 2 \n"); myled1 = 0; myled2 = 0; myled3 = 0; } if (drempelwaardeB3==0) { pc.printf("geen waarde calibratie BICEPS 3 \n"); myled1 = 0; myled2 = 0; myled3 = 0; } else { pc.printf("eerst positie dan snelheid aangeven /n"); //bepaling van positie met triceps 1 Ticker log_timerT1; arm_biquad_cascade_df1_init_f32(¬chT,1,notch_const,notch_states); arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states); myled1 = 0; myled2 = 1; myled3 = 1; log_timerT1.attach(Triceps, 0.005); wait(2); log_timerT1.detach(); // positie van batje met behulp van Triceps if (MOVAVG_T >= drempelwaardeT) { yT1=1; } else { yT1=0; } pc.printf("Triceps meting 1 is klaar.\n"); myled1 = 1; myled2 = 1; myled3 = 0; wait(3); //bepaling van positie met tricep 2 Ticker log_timerT2; arm_biquad_cascade_df1_init_f32(¬chT,1,notch_const,notch_states); arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states); myled1 = 0; myled2 = 1; myled3 = 1; log_timerT2.attach(Triceps, 0.005); wait(2); log_timerT2.detach(); if (MOVAVG_T >= drempelwaardeT) { yT2=1; } else { yT2=0; } pc.printf("Triceps meting 2 is klaar.\n"); myled1 = 1; myled2 = 1; myled3 = 0; //*** INPUT MOTOR 2 *** positie=yT1+yT2; //controle positie op scherm if (positie==0) { pc.printf("Motor 2 blijft op stand 1\n"); } else { if (positie==1) { pc.printf("Motor 2 gaat naar stand 2\n"); } else { if (positie==2) { pc.printf("Motor 2 gaat naar stand 3\n"); } } } Ticker looptimer2; looptimer2.attach(motor2aansturing,TSAMP1); wait(8); looptimer2.detach(); pc.printf("Detach Motor 1\n"); //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2 wait(2); Ticker log_timerB; arm_biquad_cascade_df1_init_f32(¬chB,1,notch_const,notch_states); arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states); myled1 = 1; myled2 = 0; myled3 = 1; log_timerB.attach(Biceps,0.005); wait(2); log_timerB.detach(); //bepaling van snelheidsstand met biceps if (MOVAVG_B >= drempelwaardeB1) { yB1=1; if (MOVAVG_B >= drempelwaardeB2) { yB2=1; if (MOVAVG_B >= drempelwaardeB3) { yB3=1; } else { yB3=0; } } else { yB2=0; } } else { yB1=0; } pc.printf("Biceps meting is klaar.\n"); myled1 = 1; myled2 = 1; myled3 = 0; //*** INPUT MOTOR 1 *** snelheidsstand=yB1+yB2+yB3; //controle snelheidsstand op scherm if (snelheidsstand==0) { pc.printf("Motor 1 beweegt niet \n"); } else { if (snelheidsstand==1) { pc.printf("Motor 1 beweegt met snelheid 1 \n"); } else { if (snelheidsstand==2) { pc.printf("Motor 1 beweegt met snelheid 2 \n"); } else { if (snelheidsstand==3) { pc.printf("Motor 1 beweegt met snelheid 3 \n"); } } } } Ticker looptimer1; //pwm_motor1.write(0.3); motordir1 = 1; stop = 0; looptimer1.attach(motor1aansturing,TSAMP1); wait(8); ////is aan te passen (tijd die nodig is om balletje te slaan looptimer1.detach(); pc.printf("detachMotor1\n"); pwm_motor1.write(0); myled1=1; myled2=1; myled3=1; } } } }//end int main float pid(float setspeed, float measurement, bool reset ) { float error; static float prev_error = 0; float out_p = 0; static float out_i = 0; float out_d = 0; //if(reset==true) //{ // out_i = 0; // prev_error = 0; //} error = setspeed-measurement; out_p = error*K_P; out_i += error*K_I; out_d = (error-prev_error)*K_D; prev_error = error; return out_p + out_i + out_d; } void Triceps() { //Triceps lezen emg_valueT = emgT.read_u16(); emg_value_f32T = emgT.read(); //Triceps filteren arm_biquad_cascade_df1_f32(¬chT, &emg_value_f32T, &filtered_emgT, 1); arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 ); filtered_emgT = fabs(filtered_emgT); arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 ); filtered_emgT = fabs(filtered_emgT); //Triceps moving average T0=filtered_emgT*1000; 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; T29=T28; T28=T27; T27=T26; T26=T25; T25=T24; T24=T23; T23=T22; T22=T21; T21=T20; T20=T19; T19=T18; T18=T17; T17=T16; T16=T15; T15=T14; T14=T13; T13=T12; T12=T11; T11=T10; T10=T9; T9=T8; T8=T7; T7=T6; T6=T5; T5=T4; T4=T3; T3=T2; T2=T1; T1=T0; //sturen naar scherm (Realterm) pc.printf("Moving average T %f\r\n",MOVAVG_T); //sturen naar HID Scope scope.set(0,emg_valueT); //ruwe data scope.set(1,filtered_emgT); //filtered scope.send(); } void Biceps() { //Biceps lezen emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) emg_value_f32B = emgB.read(); //Biceps filteren arm_biquad_cascade_df1_f32(¬chB, &emg_value_f32B, &filtered_emgB, 1 ); arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 ); filtered_emgB = fabs(filtered_emgB); arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 ); filtered_emgB = fabs(filtered_emgB); //Biceps moving average B0=filtered_emgB*1000; 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; B59=B58; B58=B57; B57=B56; B56=B55; B55=B54; B54=B53; B53=B52; B52=B51; B51=B50; B50=B48; B49=B49; B48=B47; B47=B46; B46=B45; B45=B44; B44=B43; B43=B42; B42=B41; B41=B40; B40=B39; B39=B38; B38=B37; B37=B36; B36=B35; B35=B34; B34=B33; B33=B32; B32=B31; B31=B30; B30=B29; B29=B28; B28=B27; B27=B26; B26=B25; B25=B24; B24=B23; B23=B22; B22=B21; B21=B20; B20=B19; B19=B18; B18=B17; B17=B16; B16=B15; B15=B14; B14=B13; B13=B12; B12=B11; B11=B10; B10=B9; B9=B8; B8=B7; B7=B6; B6=B5; B5=B4; B4=B3; B3=B2; B2=B1; B1=B0; //sturen naar scherm pc.printf("Moving average B %f\r\n",MOVAVG_B); //naar HID Scope scope.set(2,emg_valueB); //ruwe data scope.set(3,filtered_emgB); //filtered scope.send(); } void Calibratie_Triceps() { Ticker log_timerT; arm_biquad_cascade_df1_init_f32(¬chT,1,notch_const,notch_states); arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states); log_timerT.attach(Triceps, 0.005); wait(2); log_timerT.detach(); } void Calibratie_Biceps() { Ticker log_timerB; arm_biquad_cascade_df1_init_f32(¬chB,1,notch_const,notch_states); arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states); arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states); log_timerB.attach(Biceps, 0.005); wait(2); log_timerB.detach(); } void motor2aansturing() { if (positie == 0) { if (motor2.getPosition()>= 0) { motordir2 = 1; pwm_motor2.write(PWM2); } else { pwm_motor2.write(0); } } if (positie ==1) { if (motor2.getPosition()>= 2) { motordir2 = 1; pwm_motor2.write(PWM2); } if (motor2.getPosition()<= 2) { motordir2 = 0; pwm_motor2.write(PWM2); } else { pwm_motor2.write(0); } } if (positie ==2) { if (motor2.getPosition()<= 4) { motordir2 = 0; pwm_motor2.write(PWM2); } else { pwm_motor2.write(0); } } //end if } void motor1aansturing() { if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) { toestand = WACHTEN; //out_i=0; //pid(0,0,true); pc.printf("if1\n"); } if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is toestand = SLAAN; pc.printf("slaan \n"); if ( snelheidsstand==3) { setspeed = V3; pc.printf("Snel 3 \n"); } if ( snelheidsstand==2) { setspeed = V2; pc.printf("Snel 2\n"); } if ( snelheidsstand==1) { setspeed = V1; pc.printf("Snel 1 \n"); } } if (toestand == SLAAN && motor1.getPosition() <= ANGLEMAX) { pc.printf("toestand = terugkeren\n\r"); //out_i=0; //pid(0,0,true); toestand = TERUGKEREN; stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is... } if (toestand == TERUGKEREN) { pc.printf("motor gaat terugkeren\n\r"); new_pwm=pid(setspeed, motor1.getSpeed(),false); pwm_motor1.write(new_pwm); pc.printf("new pwm %f\r\n",new_pwm); motordir1 = 0; } if (toestand == WACHTEN) { pwm_motor1.write(0); pc.printf("ifwachten\n"); } if (toestand == SLAAN) { pid(setspeed, motor1.getSpeed(),false); motordir1 = 1; pwm_motor1.write(new_pwm); pc.printf("SLAAN\n"); } }