BMT M9 Groep01 / Mbed 2 deprecated Robot2false

alles in elkaar met de mooie manier van de regelaar

Dependencies:   Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed

Fork of Robot2mooiemanier by BMT M9 Groep01

main.cpp@22:f3a827faa135, 2014-10-31 (annotated)

Committer:
Tanja2211
Date:
Fri Oct 31 13:59:31 2014 +0000
Revision:
22:f3a827faa135
Parent:
21:b7fb79882cb8
Child:
23:8f7ce4894c58
met HIDscope

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.
Tanja2211 0:1594bb11fa13 12
Tanja2211 0:1594bb11fa13 13 #define TSAMP1 0.01
Tanja2211 0:1594bb11fa13 14 #define TSAMP2 0.01
Tanja2211 0:1594bb11fa13 15 #define WACHTEN 1
Tanja2211 0:1594bb11fa13 16 #define SLAAN 2
Tanja2211 0:1594bb11fa13 17 #define TERUGKEREN 3
Tanja2211 4:68dc27d284f7 18 #define ANGLEMAX -251
Tanja2211 0:1594bb11fa13 19 #define ANGLEMIN 0
Tanja2211 0:1594bb11fa13 20
Tanja2211 0:1594bb11fa13 21 //initiating functions
Tanja2211 0:1594bb11fa13 22 void Triceps();
Tanja2211 0:1594bb11fa13 23 void Biceps();
Tanja2211 0:1594bb11fa13 24 void Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 25 void Calibratie_Biceps();
Tanja2211 7:b40bbf5be443 26 float pid(float setspeed, float measurement, bool reset = false);
Tanja2211 0:1594bb11fa13 27 void motor2aansturing();
Tanja2211 0:1594bb11fa13 28 void motor1aansturing();
Jolein 17:71c5c9bfb7ba 29 void motor1aansturingdeel2();
Tanja2211 0:1594bb11fa13 30
Tanja2211 0:1594bb11fa13 31 //alle initiaties voor EMG
Tanja2211 0:1594bb11fa13 32 MODSERIAL pc(USBTX,USBRX);
Tanja2211 0:1594bb11fa13 33
Tanja2211 0:1594bb11fa13 34 HIDScope scope(4);
Tanja2211 0:1594bb11fa13 35
Tanja2211 0:1594bb11fa13 36 AnalogIn emgB(PTB1); //biceps
Tanja2211 0:1594bb11fa13 37 AnalogIn emgT(PTB2); //tricep
Tanja2211 0:1594bb11fa13 38
Tanja2211 0:1594bb11fa13 39 //*** OBJECTS ***
Tanja2211 0:1594bb11fa13 40 //bicep
Tanja2211 0:1594bb11fa13 41 uint16_t emg_valueB;
Tanja2211 0:1594bb11fa13 42 float emg_value_f32B;
Tanja2211 0:1594bb11fa13 43 float filtered_emgB;
Tanja2211 0:1594bb11fa13 44 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
Tanja2211 0:1594bb11fa13 45 int yB1, yB2, yB3;
Tanja2211 0:1594bb11fa13 46 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 47 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 48 int snelheidsstand;
Tanja2211 0:1594bb11fa13 49 //tricep
Tanja2211 0:1594bb11fa13 50 uint16_t emg_valueT;
Tanja2211 0:1594bb11fa13 51 float emg_value_f32T;
Tanja2211 0:1594bb11fa13 52 float filtered_emgT;
Tanja2211 0:1594bb11fa13 53 float drempelwaardeT;
Tanja2211 0:1594bb11fa13 54 int yT1, yT2;
Tanja2211 0:1594bb11fa13 55 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 56 float MOVAVG_Positie1, MOVAVG_Positie2;
Tanja2211 0:1594bb11fa13 57 int positie;
Tanja2211 0:1594bb11fa13 58
Tanja2211 0:1594bb11fa13 59 //*** FILTERS ***
Tanja2211 0:1594bb11fa13 60 arm_biquad_casd_df1_inst_f32 notchT;
Tanja2211 0:1594bb11fa13 61 arm_biquad_casd_df1_inst_f32 notchB;
Tanja2211 0:1594bb11fa13 62 //constants for 50Hz
Tanja2211 0:1594bb11fa13 63 float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 64 float notch_states[4];
Tanja2211 0:1594bb11fa13 65
Tanja2211 0:1594bb11fa13 66 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 0:1594bb11fa13 67 arm_biquad_casd_df1_inst_f32 lowpassB;
Tanja2211 0:1594bb11fa13 68 //constants for 60Hz lowpass
Tanja2211 0:1594bb11fa13 69 float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator
Tanja2211 0:1594bb11fa13 70 float lowpass_states[4];
Tanja2211 0:1594bb11fa13 71
Tanja2211 0:1594bb11fa13 72 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 0:1594bb11fa13 73 arm_biquad_casd_df1_inst_f32 highpassB;
Tanja2211 0:1594bb11fa13 74 //constants for 20Hz highpass
Tanja2211 0:1594bb11fa13 75 float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 76 float highpass_states[4];
Tanja2211 0:1594bb11fa13 77
Tanja2211 0:1594bb11fa13 78 bool stop;
Tanja2211 0:1594bb11fa13 79 float new_pwm;
Tanja2211 0:1594bb11fa13 80 float PWM2 = 0.3; //PWM voor instellen hoek batje
Tanja2211 0:1594bb11fa13 81 int toestand = TERUGKEREN;
Jolein 1:5d30a2ea2e11 82 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
Tanja2211 0:1594bb11fa13 83
Tanja2211 0:1594bb11fa13 84
Tanja2211 0:1594bb11fa13 85 Encoder motor1(PTD5,PTD3);
Tanja2211 0:1594bb11fa13 86 Encoder motor2(PTD0,PTD2);
Tanja2211 0:1594bb11fa13 87 DigitalOut motordir1(PTA4);
Tanja2211 0:1594bb11fa13 88 DigitalOut motordir2(PTC9);
Tanja2211 0:1594bb11fa13 89 PwmOut pwm_motor1(PTA5);
Tanja2211 0:1594bb11fa13 90 PwmOut pwm_motor2(PTC8);
Tanja2211 0:1594bb11fa13 91
Tanja2211 0:1594bb11fa13 92 DigitalOut myled1(LED1);//red
Tanja2211 0:1594bb11fa13 93 DigitalOut myled2(LED2);//green
Tanja2211 0:1594bb11fa13 94 DigitalOut myled3(LED3);//blue
Tanja2211 0:1594bb11fa13 95
Tanja2211 0:1594bb11fa13 96 /* FRDM-KL25Z built-in touch slider
Tanja2211 0:1594bb11fa13 97 *******************
Tanja2211 0:1594bb11fa13 98 * * * *
Tanja2211 0:1594bb11fa13 99 * 1 * 2 * 3 *
Tanja2211 0:1594bb11fa13 100 * * * *
Tanja2211 0:1594bb11fa13 101 *******************
Tanja2211 0:1594bb11fa13 102 * key 1 will light Red LED -> CALIBRATIE TRICEPS
Tanja2211 0:1594bb11fa13 103 * key 2 will light Green LED -> CALIBRATIE BICEPS
Tanja2211 0:1594bb11fa13 104 * key 3 will light Blue LED -> START*/
Tanja2211 0:1594bb11fa13 105
Tanja2211 0:1594bb11fa13 106
Tanja2211 0:1594bb11fa13 107 enum standen {STAND1=0, STAND2=1, STAND3=2};
Tanja2211 0:1594bb11fa13 108 standen hoek2 = STAND1;
Tanja2211 0:1594bb11fa13 109
Tanja2211 0:1594bb11fa13 110 int main ()
Tanja2211 22:f3a827faa135 111 {
Tanja2211 0:1594bb11fa13 112 pc.baud(115200);
Tanja2211 0:1594bb11fa13 113
Tanja2211 0:1594bb11fa13 114 drempelwaardeT=0;
Tanja2211 0:1594bb11fa13 115 drempelwaardeB1=0;
Tanja2211 0:1594bb11fa13 116 drempelwaardeB2=0;
Tanja2211 0:1594bb11fa13 117 drempelwaardeB3=0;
Tanja2211 0:1594bb11fa13 118
Tanja2211 0:1594bb11fa13 119 TouchButton TButton;
Tanja2211 0:1594bb11fa13 120
Tanja2211 0:1594bb11fa13 121 myled1=1;
Tanja2211 0:1594bb11fa13 122 myled2=1;
Tanja2211 0:1594bb11fa13 123 myled3=1;
Tanja2211 0:1594bb11fa13 124
Tanja2211 0:1594bb11fa13 125 int key=0;
Tanja2211 0:1594bb11fa13 126
Tanja2211 0:1594bb11fa13 127 pc.printf("key 1 calibratie triceps\n");
Tanja2211 0:1594bb11fa13 128 pc.printf("key 2 caliratie biceps\n");
Tanja2211 0:1594bb11fa13 129 pc.printf("key 3 START\n");
Tanja2211 0:1594bb11fa13 130
Tanja2211 0:1594bb11fa13 131 while(true) {
Tanja2211 0:1594bb11fa13 132
Tanja2211 0:1594bb11fa13 133 key = TButton.PressedButton();
Tanja2211 0:1594bb11fa13 134
Tanja2211 0:1594bb11fa13 135 if (key==1) {
Tanja2211 0:1594bb11fa13 136 //rood
Tanja2211 0:1594bb11fa13 137 myled1 = 0;
Tanja2211 0:1594bb11fa13 138 myled2 = 1;
Tanja2211 0:1594bb11fa13 139 myled3 = 1;
Tanja2211 0:1594bb11fa13 140
s1340735 21:b7fb79882cb8 141 /*pc.printf("calibratie tricep aan\n");
Tanja2211 0:1594bb11fa13 142 wait(2);
Tanja2211 0:1594bb11fa13 143
Tanja2211 0:1594bb11fa13 144 Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 145 drempelwaardeT=MOVAVG_T-1;
Tanja2211 0:1594bb11fa13 146 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
Tanja2211 0:1594bb11fa13 147
Tanja2211 0:1594bb11fa13 148 pc.printf("calibratie tricep klaar,\n");
Tanja2211 0:1594bb11fa13 149 myled1 = 0;
Tanja2211 0:1594bb11fa13 150 myled2 = 0;
Tanja2211 0:1594bb11fa13 151 myled3 = 0;
Tanja2211 0:1594bb11fa13 152 wait(2);
Tanja2211 0:1594bb11fa13 153
Tanja2211 0:1594bb11fa13 154 myled1=1;
Tanja2211 0:1594bb11fa13 155 myled2=1;
s1340735 21:b7fb79882cb8 156 myled3=1;*/
Tanja2211 0:1594bb11fa13 157 }
Tanja2211 0:1594bb11fa13 158 if (key==2) {
Tanja2211 0:1594bb11fa13 159 //green
Tanja2211 0:1594bb11fa13 160 myled1 = 1;
Tanja2211 0:1594bb11fa13 161 myled2 = 0;
Tanja2211 0:1594bb11fa13 162 myled3 = 1;
Tanja2211 0:1594bb11fa13 163
s1340735 21:b7fb79882cb8 164 /*pc.printf("calibratie bicep snelheid 1 aan\n");
Tanja2211 0:1594bb11fa13 165 wait(2);
Tanja2211 0:1594bb11fa13 166
Tanja2211 0:1594bb11fa13 167 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 168 drempelwaardeB1=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 169 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
Tanja2211 0:1594bb11fa13 170 myled1 = 0;
Tanja2211 0:1594bb11fa13 171 myled2 = 0;
Tanja2211 0:1594bb11fa13 172 myled3 = 0;
Tanja2211 0:1594bb11fa13 173 wait(2);
Tanja2211 0:1594bb11fa13 174
Tanja2211 0:1594bb11fa13 175 myled1 = 1;
Tanja2211 0:1594bb11fa13 176 myled2 = 0;
Tanja2211 0:1594bb11fa13 177 myled3 = 1;
Tanja2211 0:1594bb11fa13 178
Tanja2211 0:1594bb11fa13 179 pc.printf("calibratie biceps snelheid 2 aan\n");
Tanja2211 0:1594bb11fa13 180 wait(2);
Tanja2211 0:1594bb11fa13 181
Tanja2211 0:1594bb11fa13 182 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 183 drempelwaardeB2=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 184 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
Tanja2211 0:1594bb11fa13 185 myled1 = 0;
Tanja2211 0:1594bb11fa13 186 myled2 = 0;
Tanja2211 0:1594bb11fa13 187 myled3 = 0;
Tanja2211 0:1594bb11fa13 188 wait(2);
Tanja2211 0:1594bb11fa13 189
Tanja2211 0:1594bb11fa13 190 myled1 = 1;
Tanja2211 0:1594bb11fa13 191 myled2 = 0;
Tanja2211 0:1594bb11fa13 192 myled3 = 1;
Tanja2211 0:1594bb11fa13 193
Tanja2211 0:1594bb11fa13 194 pc.printf("calibratie biceps snelheid 3 aan\n");
Tanja2211 0:1594bb11fa13 195 wait(2);
Tanja2211 0:1594bb11fa13 196 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 197 drempelwaardeB3=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 198 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
Tanja2211 0:1594bb11fa13 199 myled1 = 0;
Tanja2211 0:1594bb11fa13 200 myled2 = 0;
Tanja2211 0:1594bb11fa13 201 myled3 = 0;
Tanja2211 0:1594bb11fa13 202 wait(2);
Tanja2211 0:1594bb11fa13 203
Tanja2211 0:1594bb11fa13 204 pc.printf("caliratie biceps is klaar\n");
Tanja2211 0:1594bb11fa13 205 myled1=1;
Tanja2211 0:1594bb11fa13 206 myled2=1;
s1340735 21:b7fb79882cb8 207 myled3=1;*/
Tanja2211 0:1594bb11fa13 208 }
Tanja2211 0:1594bb11fa13 209
Tanja2211 0:1594bb11fa13 210 if (key==3) {
Tanja2211 0:1594bb11fa13 211 //blue
Tanja2211 0:1594bb11fa13 212 myled1 = 1;
Tanja2211 0:1594bb11fa13 213 myled2 = 1;
Tanja2211 0:1594bb11fa13 214 myled3 = 0;
s1340735 21:b7fb79882cb8 215 /*wait(3);
Tanja2211 0:1594bb11fa13 216
Tanja2211 0:1594bb11fa13 217 if(drempelwaardeT==0) {
Tanja2211 0:1594bb11fa13 218 pc.printf("geen waarde calibratie TRICEPS \n");
Tanja2211 0:1594bb11fa13 219 myled1 = 0;
Tanja2211 0:1594bb11fa13 220 myled2 = 0;
Tanja2211 0:1594bb11fa13 221 myled3 = 0;
Tanja2211 0:1594bb11fa13 222 }
Tanja2211 0:1594bb11fa13 223 if (drempelwaardeB1==0) {
Tanja2211 0:1594bb11fa13 224 pc.printf("geen waarde calibratie BICEPS 1 \n");
Tanja2211 0:1594bb11fa13 225 myled1 = 0;
Tanja2211 0:1594bb11fa13 226 myled2 = 0;
Tanja2211 0:1594bb11fa13 227 myled3 = 0;
Tanja2211 0:1594bb11fa13 228 }
Tanja2211 0:1594bb11fa13 229 if (drempelwaardeB2==0) {
Tanja2211 0:1594bb11fa13 230 pc.printf("geen waarde calibratie BICEPS 2 \n");
Tanja2211 0:1594bb11fa13 231 myled1 = 0;
Tanja2211 0:1594bb11fa13 232 myled2 = 0;
Tanja2211 0:1594bb11fa13 233 myled3 = 0;
Tanja2211 0:1594bb11fa13 234 }
Tanja2211 0:1594bb11fa13 235 if (drempelwaardeB3==0) {
Tanja2211 0:1594bb11fa13 236 pc.printf("geen waarde calibratie BICEPS 3 \n");
Tanja2211 0:1594bb11fa13 237 myled1 = 0;
Tanja2211 0:1594bb11fa13 238 myled2 = 0;
Tanja2211 0:1594bb11fa13 239 myled3 = 0;
s1340735 21:b7fb79882cb8 240 } else {*/
Tanja2211 0:1594bb11fa13 241
Tanja2211 22:f3a827faa135 242 /*pc.printf("eerst positie dan snelheid aangeven /n");
Tanja2211 0:1594bb11fa13 243
Tanja2211 22:f3a827faa135 244 //bepaling van positie met triceps 1
Tanja2211 22:f3a827faa135 245 Ticker log_timerT1;
Tanja2211 22:f3a827faa135 246
Tanja2211 22:f3a827faa135 247 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 248 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 249 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 250
Tanja2211 22:f3a827faa135 251 myled1 = 0;
Tanja2211 22:f3a827faa135 252 myled2 = 1;
Tanja2211 22:f3a827faa135 253 myled3 = 1;
Tanja2211 22:f3a827faa135 254
Tanja2211 22:f3a827faa135 255 log_timerT1.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 256 wait(2);
Tanja2211 22:f3a827faa135 257 log_timerT1.detach();
Tanja2211 0:1594bb11fa13 258
Tanja2211 22:f3a827faa135 259 // positie van batje met behulp van Triceps
Tanja2211 0:1594bb11fa13 260
Tanja2211 22:f3a827faa135 261 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 262 yT1=1;
Tanja2211 22:f3a827faa135 263 } else {
Tanja2211 22:f3a827faa135 264 yT1=0;
Tanja2211 22:f3a827faa135 265 }
Tanja2211 0:1594bb11fa13 266
Tanja2211 22:f3a827faa135 267 pc.printf("Triceps meting 1 is klaar.\n");
Tanja2211 22:f3a827faa135 268 myled1 = 1;
Tanja2211 22:f3a827faa135 269 myled2 = 1;
Tanja2211 22:f3a827faa135 270 myled3 = 0;
Tanja2211 22:f3a827faa135 271 wait(3);
Tanja2211 0:1594bb11fa13 272
Tanja2211 22:f3a827faa135 273 //bepaling van positie met tricep 2
Tanja2211 22:f3a827faa135 274 Ticker log_timerT2;
Tanja2211 22:f3a827faa135 275
Tanja2211 22:f3a827faa135 276 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 277 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 278 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 279
Tanja2211 22:f3a827faa135 280 myled1 = 0;
Tanja2211 22:f3a827faa135 281 myled2 = 1;
Tanja2211 22:f3a827faa135 282 myled3 = 1;
Tanja2211 0:1594bb11fa13 283
Tanja2211 22:f3a827faa135 284 log_timerT2.attach(Triceps, 0.005);
Tanja2211 22:f3a827faa135 285 wait(2);
Tanja2211 22:f3a827faa135 286 log_timerT2.detach();
Tanja2211 0:1594bb11fa13 287
Tanja2211 22:f3a827faa135 288 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 22:f3a827faa135 289 yT2=1;
Tanja2211 22:f3a827faa135 290 } else {
Tanja2211 22:f3a827faa135 291 yT2=0;
Tanja2211 22:f3a827faa135 292 }
Tanja2211 22:f3a827faa135 293
Tanja2211 22:f3a827faa135 294 pc.printf("Triceps meting 2 is klaar.\n");
Tanja2211 22:f3a827faa135 295 myled1 = 1;
Tanja2211 22:f3a827faa135 296 myled2 = 1;
Tanja2211 22:f3a827faa135 297 myled3 = 0;
Tanja2211 22:f3a827faa135 298
Tanja2211 22:f3a827faa135 299 //*** INPUT MOTOR 2 ***
Tanja2211 22:f3a827faa135 300 positie=yT1+yT2;
Tanja2211 0:1594bb11fa13 301
Tanja2211 22:f3a827faa135 302 //controle positie op scherm
Tanja2211 22:f3a827faa135 303 if (positie==0) {
Tanja2211 22:f3a827faa135 304 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 22:f3a827faa135 305 } else {
Tanja2211 22:f3a827faa135 306 if (positie==1) {
Tanja2211 22:f3a827faa135 307 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 22:f3a827faa135 308 } else {
Tanja2211 22:f3a827faa135 309 if (positie==2) {
Tanja2211 22:f3a827faa135 310 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 22:f3a827faa135 311 }
Tanja2211 22:f3a827faa135 312 }
Tanja2211 22:f3a827faa135 313 }
Tanja2211 0:1594bb11fa13 314
Tanja2211 22:f3a827faa135 315 Ticker looptimer2;
Tanja2211 22:f3a827faa135 316 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 22:f3a827faa135 317 wait(8);
Tanja2211 22:f3a827faa135 318 looptimer2.detach();
Tanja2211 22:f3a827faa135 319 pc.printf("Detach Motor 1\n"); */
Tanja2211 22:f3a827faa135 320
Tanja2211 22:f3a827faa135 321 //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 22:f3a827faa135 322 wait(2);
Tanja2211 22:f3a827faa135 323 /* Ticker log_timerB;
Tanja2211 0:1594bb11fa13 324
Tanja2211 22:f3a827faa135 325 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 22:f3a827faa135 326 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 22:f3a827faa135 327 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 22:f3a827faa135 328
Tanja2211 22:f3a827faa135 329 myled1 = 1;
Tanja2211 22:f3a827faa135 330 myled2 = 0;
Tanja2211 22:f3a827faa135 331 myled3 = 1;
Tanja2211 22:f3a827faa135 332
Tanja2211 22:f3a827faa135 333 log_timerB.attach(Biceps,0.005);
Tanja2211 22:f3a827faa135 334 wait(2);
Tanja2211 22:f3a827faa135 335 log_timerB.detach();
Tanja2211 22:f3a827faa135 336
Tanja2211 22:f3a827faa135 337 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 338
Tanja2211 22:f3a827faa135 339 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 22:f3a827faa135 340 yB1=1;
Tanja2211 22:f3a827faa135 341 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 22:f3a827faa135 342 yB2=1;
Tanja2211 22:f3a827faa135 343 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 22:f3a827faa135 344 yB3=1;
Tanja2211 22:f3a827faa135 345 } else {
Tanja2211 22:f3a827faa135 346 yB3=0;
Tanja2211 22:f3a827faa135 347 }
Tanja2211 22:f3a827faa135 348 } else {
Tanja2211 22:f3a827faa135 349 yB2=0;
Tanja2211 22:f3a827faa135 350 }
Tanja2211 22:f3a827faa135 351 } else {
Tanja2211 22:f3a827faa135 352 yB1=0;
Tanja2211 22:f3a827faa135 353 }
Tanja2211 0:1594bb11fa13 354
Tanja2211 22:f3a827faa135 355 pc.printf("Biceps meting is klaar.\n");
Tanja2211 22:f3a827faa135 356 myled1 = 1;
Tanja2211 22:f3a827faa135 357 myled2 = 1;
Tanja2211 22:f3a827faa135 358 myled3 = 0;
Tanja2211 22:f3a827faa135 359
Tanja2211 22:f3a827faa135 360 //*** INPUT MOTOR 1 ***
Tanja2211 22:f3a827faa135 361 snelheidsstand=yB1+yB2+yB3; */
Tanja2211 22:f3a827faa135 362
Tanja2211 22:f3a827faa135 363 snelheidsstand=3;
Tanja2211 22:f3a827faa135 364
Tanja2211 22:f3a827faa135 365 //controle snelheidsstand op scherm
Tanja2211 22:f3a827faa135 366 if (snelheidsstand==0) {
Tanja2211 22:f3a827faa135 367 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 22:f3a827faa135 368 } else {
Tanja2211 22:f3a827faa135 369 if (snelheidsstand==1) {
Tanja2211 22:f3a827faa135 370 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 371 } else {
Tanja2211 22:f3a827faa135 372 if (snelheidsstand==2) {
Tanja2211 22:f3a827faa135 373 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 374 } else {
Tanja2211 22:f3a827faa135 375 if (snelheidsstand==3) {
Tanja2211 22:f3a827faa135 376 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 377 }
Tanja2211 0:1594bb11fa13 378 }
Tanja2211 0:1594bb11fa13 379 }
Tanja2211 22:f3a827faa135 380 }
Tanja2211 0:1594bb11fa13 381
Tanja2211 22:f3a827faa135 382 Ticker looptimer1;
Tanja2211 22:f3a827faa135 383 //pwm_motor1.write(0.3);
Tanja2211 22:f3a827faa135 384 motordir1 = 1;
Tanja2211 22:f3a827faa135 385 stop = 0;
Tanja2211 22:f3a827faa135 386 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 22:f3a827faa135 387 wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 388 looptimer1.detach();
Tanja2211 22:f3a827faa135 389 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 390
Tanja2211 22:f3a827faa135 391 Ticker looptimer3;
Tanja2211 22:f3a827faa135 392 looptimer3.attach(motor1aansturingdeel2,TSAMP1);
Tanja2211 22:f3a827faa135 393 wait(5); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 22:f3a827faa135 394 looptimer3.detach();
Tanja2211 22:f3a827faa135 395 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 396
Tanja2211 22:f3a827faa135 397 pwm_motor1.write(0);
Tanja2211 0:1594bb11fa13 398
Tanja2211 22:f3a827faa135 399 myled1=1;
Tanja2211 22:f3a827faa135 400 myled2=1;
Tanja2211 22:f3a827faa135 401 myled3=1;
Tanja2211 0:1594bb11fa13 402 }
Tanja2211 0:1594bb11fa13 403 }
Tanja2211 22:f3a827faa135 404 //}
Tanja2211 0:1594bb11fa13 405 }//end int main
Tanja2211 0:1594bb11fa13 406
Tanja2211 0:1594bb11fa13 407
Tanja2211 9:ba7f541cef3a 408 float pid(float setspeed, float measurement, bool reset )
Tanja2211 0:1594bb11fa13 409 {
Tanja2211 0:1594bb11fa13 410 float error;
Tanja2211 0:1594bb11fa13 411 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 412 float out_p = 0;
Tanja2211 0:1594bb11fa13 413 static float out_i = 0;
Tanja2211 0:1594bb11fa13 414 float out_d = 0;
Tanja2211 22:f3a827faa135 415 if(reset==true) {
Jolein 13:722697791695 416 out_i = 0;
Jolein 13:722697791695 417 prev_error = 0;
Jolein 13:722697791695 418 }
Tanja2211 0:1594bb11fa13 419 error = setspeed-measurement;
Tanja2211 0:1594bb11fa13 420 out_p = error*K_P;
Tanja2211 0:1594bb11fa13 421 out_i += error*K_I;
Tanja2211 0:1594bb11fa13 422 out_d = (error-prev_error)*K_D;
Tanja2211 0:1594bb11fa13 423 prev_error = error;
Tanja2211 0:1594bb11fa13 424 return out_p + out_i + out_d;
Tanja2211 0:1594bb11fa13 425 }
Tanja2211 0:1594bb11fa13 426
Tanja2211 0:1594bb11fa13 427 void Triceps()
Tanja2211 0:1594bb11fa13 428 {
Tanja2211 0:1594bb11fa13 429 //Triceps lezen
Tanja2211 0:1594bb11fa13 430 emg_valueT = emgT.read_u16();
Tanja2211 0:1594bb11fa13 431 emg_value_f32T = emgT.read();
Tanja2211 0:1594bb11fa13 432
Tanja2211 0:1594bb11fa13 433 //Triceps filteren
Tanja2211 0:1594bb11fa13 434 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
Tanja2211 0:1594bb11fa13 435 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 436 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 437 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 438 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 439
Tanja2211 0:1594bb11fa13 440 //Triceps moving average
Tanja2211 0:1594bb11fa13 441 T0=filtered_emgT*1000;
Tanja2211 0:1594bb11fa13 442 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 443 T29=T28;
Tanja2211 0:1594bb11fa13 444 T28=T27;
Tanja2211 0:1594bb11fa13 445 T27=T26;
Tanja2211 0:1594bb11fa13 446 T26=T25;
Tanja2211 0:1594bb11fa13 447 T25=T24;
Tanja2211 0:1594bb11fa13 448 T24=T23;
Tanja2211 0:1594bb11fa13 449 T23=T22;
Tanja2211 0:1594bb11fa13 450 T22=T21;
Tanja2211 0:1594bb11fa13 451 T21=T20;
Tanja2211 0:1594bb11fa13 452 T20=T19;
Tanja2211 0:1594bb11fa13 453 T19=T18;
Tanja2211 0:1594bb11fa13 454 T18=T17;
Tanja2211 0:1594bb11fa13 455 T17=T16;
Tanja2211 0:1594bb11fa13 456 T16=T15;
Tanja2211 0:1594bb11fa13 457 T15=T14;
Tanja2211 0:1594bb11fa13 458 T14=T13;
Tanja2211 0:1594bb11fa13 459 T13=T12;
Tanja2211 0:1594bb11fa13 460 T12=T11;
Tanja2211 0:1594bb11fa13 461 T11=T10;
Tanja2211 0:1594bb11fa13 462 T10=T9;
Tanja2211 0:1594bb11fa13 463 T9=T8;
Tanja2211 0:1594bb11fa13 464 T8=T7;
Tanja2211 0:1594bb11fa13 465 T7=T6;
Tanja2211 0:1594bb11fa13 466 T6=T5;
Tanja2211 0:1594bb11fa13 467 T5=T4;
Tanja2211 0:1594bb11fa13 468 T4=T3;
Tanja2211 0:1594bb11fa13 469 T3=T2;
Tanja2211 0:1594bb11fa13 470 T2=T1;
Tanja2211 0:1594bb11fa13 471 T1=T0;
Tanja2211 0:1594bb11fa13 472
Tanja2211 0:1594bb11fa13 473 //sturen naar scherm (Realterm)
Tanja2211 0:1594bb11fa13 474 pc.printf("Moving average T %f\r\n",MOVAVG_T);
Tanja2211 0:1594bb11fa13 475
Tanja2211 0:1594bb11fa13 476 //sturen naar HID Scope
Tanja2211 20:99a8e9da2d6d 477 /*scope.set(0,emg_valueT); //ruwe data
Tanja2211 0:1594bb11fa13 478 scope.set(1,filtered_emgT); //filtered
Tanja2211 20:99a8e9da2d6d 479 scope.send();*/
Tanja2211 0:1594bb11fa13 480 }
Tanja2211 0:1594bb11fa13 481
Tanja2211 0:1594bb11fa13 482 void Biceps()
Tanja2211 0:1594bb11fa13 483 {
Tanja2211 0:1594bb11fa13 484 //Biceps lezen
Tanja2211 0:1594bb11fa13 485 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 486 emg_value_f32B = emgB.read();
Tanja2211 0:1594bb11fa13 487
Tanja2211 0:1594bb11fa13 488 //Biceps filteren
Tanja2211 0:1594bb11fa13 489 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 490 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 491 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 492 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 493 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 494
Tanja2211 0:1594bb11fa13 495 //Biceps moving average
Tanja2211 0:1594bb11fa13 496 B0=filtered_emgB*1000;
Tanja2211 0:1594bb11fa13 497 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 498 B59=B58;
Tanja2211 0:1594bb11fa13 499 B58=B57;
Tanja2211 0:1594bb11fa13 500 B57=B56;
Tanja2211 0:1594bb11fa13 501 B56=B55;
Tanja2211 0:1594bb11fa13 502 B55=B54;
Tanja2211 0:1594bb11fa13 503 B54=B53;
Tanja2211 0:1594bb11fa13 504 B53=B52;
Tanja2211 0:1594bb11fa13 505 B52=B51;
Tanja2211 0:1594bb11fa13 506 B51=B50;
Tanja2211 0:1594bb11fa13 507 B50=B48;
Tanja2211 0:1594bb11fa13 508 B49=B49;
Tanja2211 0:1594bb11fa13 509 B48=B47;
Tanja2211 0:1594bb11fa13 510 B47=B46;
Tanja2211 0:1594bb11fa13 511 B46=B45;
Tanja2211 0:1594bb11fa13 512 B45=B44;
Tanja2211 0:1594bb11fa13 513 B44=B43;
Tanja2211 0:1594bb11fa13 514 B43=B42;
Tanja2211 0:1594bb11fa13 515 B42=B41;
Tanja2211 0:1594bb11fa13 516 B41=B40;
Tanja2211 0:1594bb11fa13 517 B40=B39;
Tanja2211 0:1594bb11fa13 518 B39=B38;
Tanja2211 0:1594bb11fa13 519 B38=B37;
Tanja2211 0:1594bb11fa13 520 B37=B36;
Tanja2211 0:1594bb11fa13 521 B36=B35;
Tanja2211 0:1594bb11fa13 522 B35=B34;
Tanja2211 0:1594bb11fa13 523 B34=B33;
Tanja2211 0:1594bb11fa13 524 B33=B32;
Tanja2211 0:1594bb11fa13 525 B32=B31;
Tanja2211 0:1594bb11fa13 526 B31=B30;
Tanja2211 0:1594bb11fa13 527 B30=B29;
Tanja2211 0:1594bb11fa13 528 B29=B28;
Tanja2211 0:1594bb11fa13 529 B28=B27;
Tanja2211 0:1594bb11fa13 530 B27=B26;
Tanja2211 0:1594bb11fa13 531 B26=B25;
Tanja2211 0:1594bb11fa13 532 B25=B24;
Tanja2211 0:1594bb11fa13 533 B24=B23;
Tanja2211 0:1594bb11fa13 534 B23=B22;
Tanja2211 0:1594bb11fa13 535 B22=B21;
Tanja2211 0:1594bb11fa13 536 B21=B20;
Tanja2211 0:1594bb11fa13 537 B20=B19;
Tanja2211 0:1594bb11fa13 538 B19=B18;
Tanja2211 0:1594bb11fa13 539 B18=B17;
Tanja2211 0:1594bb11fa13 540 B17=B16;
Tanja2211 0:1594bb11fa13 541 B16=B15;
Tanja2211 0:1594bb11fa13 542 B15=B14;
Tanja2211 0:1594bb11fa13 543 B14=B13;
Tanja2211 0:1594bb11fa13 544 B13=B12;
Tanja2211 0:1594bb11fa13 545 B12=B11;
Tanja2211 0:1594bb11fa13 546 B11=B10;
Tanja2211 0:1594bb11fa13 547 B10=B9;
Tanja2211 0:1594bb11fa13 548 B9=B8;
Tanja2211 0:1594bb11fa13 549 B8=B7;
Tanja2211 0:1594bb11fa13 550 B7=B6;
Tanja2211 0:1594bb11fa13 551 B6=B5;
Tanja2211 0:1594bb11fa13 552 B5=B4;
Tanja2211 0:1594bb11fa13 553 B4=B3;
Tanja2211 0:1594bb11fa13 554 B3=B2;
Tanja2211 0:1594bb11fa13 555 B2=B1;
Tanja2211 0:1594bb11fa13 556 B1=B0;
Tanja2211 0:1594bb11fa13 557
Tanja2211 0:1594bb11fa13 558 //sturen naar scherm
Tanja2211 0:1594bb11fa13 559 pc.printf("Moving average B %f\r\n",MOVAVG_B);
Tanja2211 0:1594bb11fa13 560
Tanja2211 0:1594bb11fa13 561 //naar HID Scope
Tanja2211 20:99a8e9da2d6d 562 /*scope.set(2,emg_valueB); //ruwe data
Tanja2211 0:1594bb11fa13 563 scope.set(3,filtered_emgB); //filtered
Tanja2211 20:99a8e9da2d6d 564 scope.send();*/
Tanja2211 0:1594bb11fa13 565 }
Tanja2211 0:1594bb11fa13 566
Tanja2211 0:1594bb11fa13 567 void Calibratie_Triceps()
Tanja2211 0:1594bb11fa13 568 {
Tanja2211 0:1594bb11fa13 569 Ticker log_timerT;
Tanja2211 0:1594bb11fa13 570
Tanja2211 0:1594bb11fa13 571 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 572 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 573 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 574
Tanja2211 0:1594bb11fa13 575 log_timerT.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 576 wait(2);
Tanja2211 0:1594bb11fa13 577 log_timerT.detach();
Tanja2211 0:1594bb11fa13 578 }
Tanja2211 0:1594bb11fa13 579
Tanja2211 0:1594bb11fa13 580 void Calibratie_Biceps()
Tanja2211 0:1594bb11fa13 581 {
Tanja2211 0:1594bb11fa13 582 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 583
Tanja2211 0:1594bb11fa13 584 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 585 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 586 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 587
Tanja2211 0:1594bb11fa13 588 log_timerB.attach(Biceps, 0.005);
Tanja2211 0:1594bb11fa13 589 wait(2);
Tanja2211 0:1594bb11fa13 590 log_timerB.detach();
Tanja2211 0:1594bb11fa13 591 }
Tanja2211 0:1594bb11fa13 592
Tanja2211 0:1594bb11fa13 593 void motor2aansturing()
Tanja2211 0:1594bb11fa13 594 {
Tanja2211 0:1594bb11fa13 595 if (positie == 0) {
Tanja2211 0:1594bb11fa13 596 if (motor2.getPosition()>= 0) {
Tanja2211 0:1594bb11fa13 597 motordir2 = 1;
Tanja2211 0:1594bb11fa13 598 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 599 } else {
Tanja2211 0:1594bb11fa13 600 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 601 }
Tanja2211 0:1594bb11fa13 602 }
Tanja2211 0:1594bb11fa13 603 if (positie ==1) {
Tanja2211 0:1594bb11fa13 604 if (motor2.getPosition()>= 2) {
Tanja2211 0:1594bb11fa13 605 motordir2 = 1;
Tanja2211 0:1594bb11fa13 606 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 607 }
Tanja2211 0:1594bb11fa13 608 if (motor2.getPosition()<= 2) {
Tanja2211 0:1594bb11fa13 609 motordir2 = 0;
Tanja2211 0:1594bb11fa13 610 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 611 } else {
Tanja2211 0:1594bb11fa13 612 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 613 }
Tanja2211 0:1594bb11fa13 614 }
Tanja2211 0:1594bb11fa13 615 if (positie ==2) {
Tanja2211 0:1594bb11fa13 616 if (motor2.getPosition()<= 4) {
Tanja2211 0:1594bb11fa13 617 motordir2 = 0;
Tanja2211 0:1594bb11fa13 618 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 619 } else {
Tanja2211 0:1594bb11fa13 620 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 621 }
Tanja2211 0:1594bb11fa13 622 } //end if
Tanja2211 0:1594bb11fa13 623 }
Tanja2211 0:1594bb11fa13 624
Tanja2211 0:1594bb11fa13 625 void motor1aansturing()
Tanja2211 0:1594bb11fa13 626 {
Tanja2211 0:1594bb11fa13 627
Jolein 18:1e40778ad1aa 628 if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) {
Tanja2211 7:b40bbf5be443 629 toestand = WACHTEN;
Jolein 18:1e40778ad1aa 630 //motor1.setPosition(0);
Tanja2211 22:f3a827faa135 631 pid(0,0,true);
Tanja2211 2:455216d1b5ba 632 pc.printf("if1\n");
Tanja2211 0:1594bb11fa13 633 }
Tanja2211 0:1594bb11fa13 634 if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is
Tanja2211 0:1594bb11fa13 635 toestand = SLAAN;
Tanja2211 0:1594bb11fa13 636 pc.printf("slaan \n");
Tanja2211 0:1594bb11fa13 637 if ( snelheidsstand==3) {
Tanja2211 22:f3a827faa135 638 setspeed = V3;
Tanja2211 22:f3a827faa135 639 pc.printf("Snel 3 \n");
Tanja2211 0:1594bb11fa13 640 }
Tanja2211 0:1594bb11fa13 641 if ( snelheidsstand==2) {
Tanja2211 22:f3a827faa135 642 setspeed = V2;
Tanja2211 22:f3a827faa135 643 pc.printf("Snel 2\n");
Tanja2211 0:1594bb11fa13 644 }
Tanja2211 0:1594bb11fa13 645 if ( snelheidsstand==1) {
Tanja2211 22:f3a827faa135 646 setspeed = V1;
Tanja2211 22:f3a827faa135 647 pc.printf("Snel 1 \n");
Tanja2211 0:1594bb11fa13 648 }
Tanja2211 0:1594bb11fa13 649 }
Tanja2211 4:68dc27d284f7 650 if (toestand == SLAAN && motor1.getPosition() <= ANGLEMAX) {
Jolein 16:8e56aa6f4b7a 651 toestand = TERUGKEREN;
Jolein 18:1e40778ad1aa 652 //motor1.setPosition(0);
Jolein 17:71c5c9bfb7ba 653 pwm_motor1.write(0);
Tanja2211 22:f3a827faa135 654 pid(0,0,true);
Jolein 16:8e56aa6f4b7a 655 stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is...
Jolein 1:5d30a2ea2e11 656 pc.printf("toestand = terugkeren\n\r");
Tanja2211 0:1594bb11fa13 657 }
Jolein 17:71c5c9bfb7ba 658 if (toestand == WACHTEN) {
Jolein 17:71c5c9bfb7ba 659 pwm_motor1.write(0);
Jolein 17:71c5c9bfb7ba 660 pc.printf("ifwachten\n");
Jolein 17:71c5c9bfb7ba 661 }
Jolein 17:71c5c9bfb7ba 662 if (toestand == SLAAN) {
Jolein 17:71c5c9bfb7ba 663 new_pwm = pid(setspeed, motor1.getSpeed(),false);
Jolein 17:71c5c9bfb7ba 664 pwm_motor1.write(new_pwm);
Jolein 17:71c5c9bfb7ba 665 motordir1 = 1;
Jolein 17:71c5c9bfb7ba 666 pc.printf("SLAAN\n");
Tanja2211 22:f3a827faa135 667 scope.set(0,motor1.getPosition()); //ruwe data
Tanja2211 22:f3a827faa135 668 scope.set(1,-244); //filtered
Tanja2211 22:f3a827faa135 669 scope.send();
Tanja2211 22:f3a827faa135 670
Tanja2211 22:f3a827faa135 671 /*if (toestand == TERUGKEREN) {
Tanja2211 22:f3a827faa135 672 new_pwm = pid(setspeed, motor1.getSpeed(),false);
Tanja2211 22:f3a827faa135 673 pwm_motor1.write(new_pwm);
Tanja2211 22:f3a827faa135 674 motordir1 = 0;
Tanja2211 22:f3a827faa135 675 pc.printf("motor gaat terugkeren\n\r");
Tanja2211 22:f3a827faa135 676 pc.printf("new pwm %f\r\n",new_pwm);*/
Jolein 17:71c5c9bfb7ba 677 }
Tanja2211 22:f3a827faa135 678
Jolein 17:71c5c9bfb7ba 679 }
Jolein 17:71c5c9bfb7ba 680
Jolein 17:71c5c9bfb7ba 681 void motor1aansturingdeel2()
Jolein 17:71c5c9bfb7ba 682 {
Jolein 17:71c5c9bfb7ba 683 if (motor1.getPosition()>= ANGLEMAX && toestand != SLAAN) {
Jolein 17:71c5c9bfb7ba 684 toestand = WACHTEN;
Jolein 17:71c5c9bfb7ba 685 motor1.setPosition(0);
Tanja2211 22:f3a827faa135 686 pid(0,0,true);
Tanja2211 20:99a8e9da2d6d 687 //pc.printf("if2\n");
Jolein 17:71c5c9bfb7ba 688 }
Tanja2211 0:1594bb11fa13 689 if (toestand == TERUGKEREN) {
Tanja2211 22:f3a827faa135 690 new_pwm = pid(setspeed, motor1.getSpeed(),false);
Tanja2211 5:8f256c16fe6c 691 pwm_motor1.write(new_pwm);
Jolein 15:737f5f448eb7 692 motordir1 = 0;
Tanja2211 22:f3a827faa135 693 //sturen naar HID Scope
Tanja2211 22:f3a827faa135 694 scope.set(0,motor1.getPosition()); //ruwe data
Tanja2211 22:f3a827faa135 695 scope.set(2,motor1.getPosition()); //filtered
Tanja2211 22:f3a827faa135 696 scope.send();
Tanja2211 20:99a8e9da2d6d 697 pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
Tanja2211 0:1594bb11fa13 698 }
Tanja2211 0:1594bb11fa13 699 if (toestand == WACHTEN) {
Tanja2211 0:1594bb11fa13 700 pwm_motor1.write(0);
Tanja2211 20:99a8e9da2d6d 701 //pc.printf("ifwachten2\n");
Tanja2211 0:1594bb11fa13 702 }
Tanja2211 0:1594bb11fa13 703 }