BMT M9 Groep01 / Mbed 2 deprecated Robot2mooiemanier

alles in elkaar met de mooie manier van de regelaar

Dependencies:   Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed

Fork of Robot2 by BMT M9 Groep01

main.cpp@2:455216d1b5ba, 2014-10-30 (annotated)

Committer:
Tanja2211
Date:
Thu Oct 30 14:05:36 2014 +0000
Revision:
2:455216d1b5ba
Parent:
1:5d30a2ea2e11
Child:
3:68b364036bc8
gaat heen en terug en stopt niet

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 0:1594bb11fa13 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 0:1594bb11fa13 26 float pid(float setspeed, float measurement);
Tanja2211 0:1594bb11fa13 27 void motor2aansturing();
Tanja2211 0:1594bb11fa13 28 void motor1aansturing();
Tanja2211 0:1594bb11fa13 29
Tanja2211 0:1594bb11fa13 30 //alle initiaties voor EMG
Tanja2211 0:1594bb11fa13 31 MODSERIAL pc(USBTX,USBRX);
Tanja2211 0:1594bb11fa13 32
Tanja2211 0:1594bb11fa13 33 HIDScope scope(4);
Tanja2211 0:1594bb11fa13 34
Tanja2211 0:1594bb11fa13 35 AnalogIn emgB(PTB1); //biceps
Tanja2211 0:1594bb11fa13 36 AnalogIn emgT(PTB2); //tricep
Tanja2211 0:1594bb11fa13 37
Tanja2211 0:1594bb11fa13 38 //*** OBJECTS ***
Tanja2211 0:1594bb11fa13 39 //bicep
Tanja2211 0:1594bb11fa13 40 uint16_t emg_valueB;
Tanja2211 0:1594bb11fa13 41 float emg_value_f32B;
Tanja2211 0:1594bb11fa13 42 float filtered_emgB;
Tanja2211 0:1594bb11fa13 43 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3;//B1=snelheidsstand 1, B2=snelheidsstand 2, B3=snelheidsstand 3
Tanja2211 0:1594bb11fa13 44 int yB1, yB2, yB3;
Tanja2211 0:1594bb11fa13 45 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 46 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 47 int snelheidsstand;
Tanja2211 0:1594bb11fa13 48 //tricep
Tanja2211 0:1594bb11fa13 49 uint16_t emg_valueT;
Tanja2211 0:1594bb11fa13 50 float emg_value_f32T;
Tanja2211 0:1594bb11fa13 51 float filtered_emgT;
Tanja2211 0:1594bb11fa13 52 float drempelwaardeT;
Tanja2211 0:1594bb11fa13 53 int yT1, yT2;
Tanja2211 0:1594bb11fa13 54 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 55 float MOVAVG_Positie1, MOVAVG_Positie2;
Tanja2211 0:1594bb11fa13 56 int positie;
Tanja2211 0:1594bb11fa13 57
Tanja2211 0:1594bb11fa13 58 //*** FILTERS ***
Tanja2211 0:1594bb11fa13 59 arm_biquad_casd_df1_inst_f32 notchT;
Tanja2211 0:1594bb11fa13 60 arm_biquad_casd_df1_inst_f32 notchB;
Tanja2211 0:1594bb11fa13 61 //constants for 50Hz
Tanja2211 0:1594bb11fa13 62 float notch_const[]= {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, 1.3007020142696517e-16, -0.17156822135697122}; //{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 63 float notch_states[4];
Tanja2211 0:1594bb11fa13 64
Tanja2211 0:1594bb11fa13 65 arm_biquad_casd_df1_inst_f32 lowpassT;
Tanja2211 0:1594bb11fa13 66 arm_biquad_casd_df1_inst_f32 lowpassB;
Tanja2211 0:1594bb11fa13 67 //constants for 60Hz lowpass
Tanja2211 0:1594bb11fa13 68 float lowpass_const[] = {0.39133426347022965, 0.7826685269404593, 0.39133426347022965, -0.3695259524151476, -0.19581110146577096};//{a0 a1 a2 -b1 -b2} van online calculator
Tanja2211 0:1594bb11fa13 69 float lowpass_states[4];
Tanja2211 0:1594bb11fa13 70
Tanja2211 0:1594bb11fa13 71 arm_biquad_casd_df1_inst_f32 highpassT;
Tanja2211 0:1594bb11fa13 72 arm_biquad_casd_df1_inst_f32 highpassB;
Tanja2211 0:1594bb11fa13 73 //constants for 20Hz highpass
Tanja2211 0:1594bb11fa13 74 float highpass_const[] = {0.6389437261127494, -1.2778874522254988, 0.6389437261127494, 1.1429772843080923, -0.41279762014290533};//{a0 a1 a2 -b1 -b2}
Tanja2211 0:1594bb11fa13 75 float highpass_states[4];
Tanja2211 0:1594bb11fa13 76
Tanja2211 0:1594bb11fa13 77 bool stop;
Tanja2211 0:1594bb11fa13 78 float new_pwm;
Tanja2211 0:1594bb11fa13 79 float PWM2 = 0.3; //PWM voor instellen hoek batje
Tanja2211 0:1594bb11fa13 80 int toestand = TERUGKEREN;
Jolein 1:5d30a2ea2e11 81 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
Tanja2211 0:1594bb11fa13 82
Tanja2211 0:1594bb11fa13 83
Tanja2211 0:1594bb11fa13 84 Encoder motor1(PTD5,PTD3);
Tanja2211 0:1594bb11fa13 85 Encoder motor2(PTD0,PTD2);
Tanja2211 0:1594bb11fa13 86 DigitalOut motordir1(PTA4);
Tanja2211 0:1594bb11fa13 87 DigitalOut motordir2(PTC9);
Tanja2211 0:1594bb11fa13 88 PwmOut pwm_motor1(PTA5);
Tanja2211 0:1594bb11fa13 89 PwmOut pwm_motor2(PTC8);
Tanja2211 0:1594bb11fa13 90
Tanja2211 0:1594bb11fa13 91 DigitalOut myled1(LED1);//red
Tanja2211 0:1594bb11fa13 92 DigitalOut myled2(LED2);//green
Tanja2211 0:1594bb11fa13 93 DigitalOut myled3(LED3);//blue
Tanja2211 0:1594bb11fa13 94
Tanja2211 0:1594bb11fa13 95 /* FRDM-KL25Z built-in touch slider
Tanja2211 0:1594bb11fa13 96 *******************
Tanja2211 0:1594bb11fa13 97 * * * *
Tanja2211 0:1594bb11fa13 98 * 1 * 2 * 3 *
Tanja2211 0:1594bb11fa13 99 * * * *
Tanja2211 0:1594bb11fa13 100 *******************
Tanja2211 0:1594bb11fa13 101 * key 1 will light Red LED -> CALIBRATIE TRICEPS
Tanja2211 0:1594bb11fa13 102 * key 2 will light Green LED -> CALIBRATIE BICEPS
Tanja2211 0:1594bb11fa13 103 * key 3 will light Blue LED -> START*/
Tanja2211 0:1594bb11fa13 104
Tanja2211 0:1594bb11fa13 105
Tanja2211 0:1594bb11fa13 106 enum standen {STAND1=0, STAND2=1, STAND3=2};
Tanja2211 0:1594bb11fa13 107 standen hoek2 = STAND1;
Tanja2211 0:1594bb11fa13 108
Tanja2211 0:1594bb11fa13 109 int main ()
Tanja2211 0:1594bb11fa13 110 {
Tanja2211 0:1594bb11fa13 111 pc.baud(115200);
Tanja2211 0:1594bb11fa13 112
Tanja2211 0:1594bb11fa13 113 drempelwaardeT=0;
Tanja2211 0:1594bb11fa13 114 drempelwaardeB1=0;
Tanja2211 0:1594bb11fa13 115 drempelwaardeB2=0;
Tanja2211 0:1594bb11fa13 116 drempelwaardeB3=0;
Tanja2211 0:1594bb11fa13 117
Tanja2211 0:1594bb11fa13 118 TouchButton TButton;
Tanja2211 0:1594bb11fa13 119
Tanja2211 0:1594bb11fa13 120 myled1=1;
Tanja2211 0:1594bb11fa13 121 myled2=1;
Tanja2211 0:1594bb11fa13 122 myled3=1;
Tanja2211 0:1594bb11fa13 123
Tanja2211 0:1594bb11fa13 124 int key=0;
Tanja2211 0:1594bb11fa13 125
Tanja2211 0:1594bb11fa13 126 pc.printf("key 1 calibratie triceps\n");
Tanja2211 0:1594bb11fa13 127 pc.printf("key 2 caliratie biceps\n");
Tanja2211 0:1594bb11fa13 128 pc.printf("key 3 START\n");
Tanja2211 0:1594bb11fa13 129
Tanja2211 0:1594bb11fa13 130 while(true) {
Tanja2211 0:1594bb11fa13 131
Tanja2211 0:1594bb11fa13 132 key = TButton.PressedButton();
Tanja2211 0:1594bb11fa13 133
Tanja2211 0:1594bb11fa13 134 if (key==1) {
Tanja2211 0:1594bb11fa13 135 //rood
Tanja2211 0:1594bb11fa13 136 myled1 = 0;
Tanja2211 0:1594bb11fa13 137 myled2 = 1;
Tanja2211 0:1594bb11fa13 138 myled3 = 1;
Tanja2211 0:1594bb11fa13 139
Tanja2211 0:1594bb11fa13 140 pc.printf("calibratie tricep aan\n");
Tanja2211 0:1594bb11fa13 141 wait(2);
Tanja2211 0:1594bb11fa13 142
Tanja2211 0:1594bb11fa13 143 Calibratie_Triceps();
Tanja2211 0:1594bb11fa13 144 drempelwaardeT=MOVAVG_T-1;
Tanja2211 0:1594bb11fa13 145 pc.printf("drempelwaarde triceps is %f\r\n", drempelwaardeT);
Tanja2211 0:1594bb11fa13 146
Tanja2211 0:1594bb11fa13 147 pc.printf("calibratie tricep klaar,\n");
Tanja2211 0:1594bb11fa13 148 myled1 = 0;
Tanja2211 0:1594bb11fa13 149 myled2 = 0;
Tanja2211 0:1594bb11fa13 150 myled3 = 0;
Tanja2211 0:1594bb11fa13 151 wait(2);
Tanja2211 0:1594bb11fa13 152
Tanja2211 0:1594bb11fa13 153 myled1=1;
Tanja2211 0:1594bb11fa13 154 myled2=1;
Tanja2211 0:1594bb11fa13 155 myled3=1;
Tanja2211 0:1594bb11fa13 156 }
Tanja2211 0:1594bb11fa13 157 if (key==2) {
Tanja2211 0:1594bb11fa13 158 //green
Tanja2211 0:1594bb11fa13 159 myled1 = 1;
Tanja2211 0:1594bb11fa13 160 myled2 = 0;
Tanja2211 0:1594bb11fa13 161 myled3 = 1;
Tanja2211 0:1594bb11fa13 162
Tanja2211 0:1594bb11fa13 163 pc.printf("calibratie bicep snelheid 1 aan\n");
Tanja2211 0:1594bb11fa13 164 wait(2);
Tanja2211 0:1594bb11fa13 165
Tanja2211 0:1594bb11fa13 166 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 167 drempelwaardeB1=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 168 pc.printf("drempelwaarde snelheid 1 is %f\r\n", drempelwaardeB1);
Tanja2211 0:1594bb11fa13 169 myled1 = 0;
Tanja2211 0:1594bb11fa13 170 myled2 = 0;
Tanja2211 0:1594bb11fa13 171 myled3 = 0;
Tanja2211 0:1594bb11fa13 172 wait(2);
Tanja2211 0:1594bb11fa13 173
Tanja2211 0:1594bb11fa13 174 myled1 = 1;
Tanja2211 0:1594bb11fa13 175 myled2 = 0;
Tanja2211 0:1594bb11fa13 176 myled3 = 1;
Tanja2211 0:1594bb11fa13 177
Tanja2211 0:1594bb11fa13 178 pc.printf("calibratie biceps snelheid 2 aan\n");
Tanja2211 0:1594bb11fa13 179 wait(2);
Tanja2211 0:1594bb11fa13 180
Tanja2211 0:1594bb11fa13 181 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 182 drempelwaardeB2=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 183 pc.printf("drempelwaarde snelheid 2 is %f\r\n", drempelwaardeB2);
Tanja2211 0:1594bb11fa13 184 myled1 = 0;
Tanja2211 0:1594bb11fa13 185 myled2 = 0;
Tanja2211 0:1594bb11fa13 186 myled3 = 0;
Tanja2211 0:1594bb11fa13 187 wait(2);
Tanja2211 0:1594bb11fa13 188
Tanja2211 0:1594bb11fa13 189 myled1 = 1;
Tanja2211 0:1594bb11fa13 190 myled2 = 0;
Tanja2211 0:1594bb11fa13 191 myled3 = 1;
Tanja2211 0:1594bb11fa13 192
Tanja2211 0:1594bb11fa13 193 pc.printf("calibratie biceps snelheid 3 aan\n");
Tanja2211 0:1594bb11fa13 194 wait(2);
Tanja2211 0:1594bb11fa13 195 Calibratie_Biceps();
Tanja2211 0:1594bb11fa13 196 drempelwaardeB3=MOVAVG_B-1;
Tanja2211 0:1594bb11fa13 197 pc.printf("drempelwaarde snelheid 3 is %f\r\n", drempelwaardeB3);
Tanja2211 0:1594bb11fa13 198 myled1 = 0;
Tanja2211 0:1594bb11fa13 199 myled2 = 0;
Tanja2211 0:1594bb11fa13 200 myled3 = 0;
Tanja2211 0:1594bb11fa13 201 wait(2);
Tanja2211 0:1594bb11fa13 202
Tanja2211 0:1594bb11fa13 203 pc.printf("caliratie biceps is klaar\n");
Tanja2211 0:1594bb11fa13 204 myled1=1;
Tanja2211 0:1594bb11fa13 205 myled2=1;
Tanja2211 0:1594bb11fa13 206 myled3=1;
Tanja2211 0:1594bb11fa13 207 }
Tanja2211 0:1594bb11fa13 208
Tanja2211 0:1594bb11fa13 209 if (key==3) {
Tanja2211 0:1594bb11fa13 210 //blue
Tanja2211 0:1594bb11fa13 211 myled1 = 1;
Tanja2211 0:1594bb11fa13 212 myled2 = 1;
Tanja2211 0:1594bb11fa13 213 myled3 = 0;
Tanja2211 0:1594bb11fa13 214 wait(3);
Tanja2211 0:1594bb11fa13 215
Tanja2211 0:1594bb11fa13 216 if(drempelwaardeT==0) {
Tanja2211 0:1594bb11fa13 217 pc.printf("geen waarde calibratie TRICEPS \n");
Tanja2211 0:1594bb11fa13 218 myled1 = 0;
Tanja2211 0:1594bb11fa13 219 myled2 = 0;
Tanja2211 0:1594bb11fa13 220 myled3 = 0;
Tanja2211 0:1594bb11fa13 221 }
Tanja2211 0:1594bb11fa13 222 if (drempelwaardeB1==0) {
Tanja2211 0:1594bb11fa13 223 pc.printf("geen waarde calibratie BICEPS 1 \n");
Tanja2211 0:1594bb11fa13 224 myled1 = 0;
Tanja2211 0:1594bb11fa13 225 myled2 = 0;
Tanja2211 0:1594bb11fa13 226 myled3 = 0;
Tanja2211 0:1594bb11fa13 227 }
Tanja2211 0:1594bb11fa13 228 if (drempelwaardeB2==0) {
Tanja2211 0:1594bb11fa13 229 pc.printf("geen waarde calibratie BICEPS 2 \n");
Tanja2211 0:1594bb11fa13 230 myled1 = 0;
Tanja2211 0:1594bb11fa13 231 myled2 = 0;
Tanja2211 0:1594bb11fa13 232 myled3 = 0;
Tanja2211 0:1594bb11fa13 233 }
Tanja2211 0:1594bb11fa13 234 if (drempelwaardeB3==0) {
Tanja2211 0:1594bb11fa13 235 pc.printf("geen waarde calibratie BICEPS 3 \n");
Tanja2211 0:1594bb11fa13 236 myled1 = 0;
Tanja2211 0:1594bb11fa13 237 myled2 = 0;
Tanja2211 0:1594bb11fa13 238 myled3 = 0;
Tanja2211 0:1594bb11fa13 239 } else {
Tanja2211 0:1594bb11fa13 240
Tanja2211 0:1594bb11fa13 241 pc.printf("eerst positie dan snelheid aangeven /n");
Tanja2211 0:1594bb11fa13 242
Tanja2211 0:1594bb11fa13 243 //bepaling van positie met triceps 1
Tanja2211 0:1594bb11fa13 244 Ticker log_timerT1;
Tanja2211 0:1594bb11fa13 245
Tanja2211 0:1594bb11fa13 246 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 247 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 248 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 249
Tanja2211 0:1594bb11fa13 250 myled1 = 0;
Tanja2211 0:1594bb11fa13 251 myled2 = 1;
Tanja2211 0:1594bb11fa13 252 myled3 = 1;
Tanja2211 0:1594bb11fa13 253
Tanja2211 0:1594bb11fa13 254 log_timerT1.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 255 wait(2);
Tanja2211 0:1594bb11fa13 256 log_timerT1.detach();
Tanja2211 0:1594bb11fa13 257
Tanja2211 0:1594bb11fa13 258 // positie van batje met behulp van Triceps
Tanja2211 0:1594bb11fa13 259
Tanja2211 0:1594bb11fa13 260 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 0:1594bb11fa13 261 yT1=1;
Tanja2211 0:1594bb11fa13 262 } else {
Tanja2211 0:1594bb11fa13 263 yT1=0;
Tanja2211 0:1594bb11fa13 264 }
Tanja2211 0:1594bb11fa13 265
Tanja2211 0:1594bb11fa13 266 pc.printf("Triceps meting 1 is klaar.\n");
Tanja2211 0:1594bb11fa13 267 myled1 = 1;
Tanja2211 0:1594bb11fa13 268 myled2 = 1;
Tanja2211 0:1594bb11fa13 269 myled3 = 0;
Tanja2211 0:1594bb11fa13 270 wait(3);
Tanja2211 0:1594bb11fa13 271
Tanja2211 0:1594bb11fa13 272 //bepaling van positie met tricep 2
Tanja2211 0:1594bb11fa13 273 Ticker log_timerT2;
Tanja2211 0:1594bb11fa13 274
Tanja2211 0:1594bb11fa13 275 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 276 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 277 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 278
Tanja2211 0:1594bb11fa13 279 myled1 = 0;
Tanja2211 0:1594bb11fa13 280 myled2 = 1;
Tanja2211 0:1594bb11fa13 281 myled3 = 1;
Tanja2211 0:1594bb11fa13 282
Tanja2211 0:1594bb11fa13 283 log_timerT2.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 284 wait(2);
Tanja2211 0:1594bb11fa13 285 log_timerT2.detach();
Tanja2211 0:1594bb11fa13 286
Tanja2211 0:1594bb11fa13 287 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 0:1594bb11fa13 288 yT2=1;
Tanja2211 0:1594bb11fa13 289 } else {
Tanja2211 0:1594bb11fa13 290 yT2=0;
Tanja2211 0:1594bb11fa13 291 }
Tanja2211 0:1594bb11fa13 292
Tanja2211 0:1594bb11fa13 293 pc.printf("Triceps meting 2 is klaar.\n");
Tanja2211 0:1594bb11fa13 294 myled1 = 1;
Tanja2211 0:1594bb11fa13 295 myled2 = 1;
Tanja2211 0:1594bb11fa13 296 myled3 = 0;
Tanja2211 0:1594bb11fa13 297
Tanja2211 0:1594bb11fa13 298 //*** INPUT MOTOR 2 ***
Tanja2211 0:1594bb11fa13 299 positie=yT1+yT2;
Tanja2211 0:1594bb11fa13 300
Tanja2211 0:1594bb11fa13 301 //controle positie op scherm
Tanja2211 0:1594bb11fa13 302 if (positie==0) {
Tanja2211 0:1594bb11fa13 303 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 0:1594bb11fa13 304 } else {
Tanja2211 0:1594bb11fa13 305 if (positie==1) {
Tanja2211 0:1594bb11fa13 306 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 0:1594bb11fa13 307 } else {
Tanja2211 0:1594bb11fa13 308 if (positie==2) {
Tanja2211 0:1594bb11fa13 309 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 0:1594bb11fa13 310 }
Tanja2211 0:1594bb11fa13 311 }
Tanja2211 0:1594bb11fa13 312 }
Tanja2211 0:1594bb11fa13 313
Tanja2211 0:1594bb11fa13 314 Ticker looptimer2;
Tanja2211 0:1594bb11fa13 315 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 0:1594bb11fa13 316 wait(8);
Tanja2211 0:1594bb11fa13 317 looptimer2.detach();
Tanja2211 0:1594bb11fa13 318 pc.printf("Detach Motor 1\n");
Tanja2211 0:1594bb11fa13 319
Tanja2211 0:1594bb11fa13 320 //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 0:1594bb11fa13 321 wait(2);
Tanja2211 0:1594bb11fa13 322 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 323
Tanja2211 0:1594bb11fa13 324 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 325 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 326 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 327
Tanja2211 0:1594bb11fa13 328 myled1 = 1;
Tanja2211 0:1594bb11fa13 329 myled2 = 0;
Tanja2211 0:1594bb11fa13 330 myled3 = 1;
Tanja2211 0:1594bb11fa13 331
Tanja2211 0:1594bb11fa13 332 log_timerB.attach(Biceps,0.005);
Tanja2211 0:1594bb11fa13 333 wait(2);
Tanja2211 0:1594bb11fa13 334 log_timerB.detach();
Tanja2211 0:1594bb11fa13 335
Tanja2211 0:1594bb11fa13 336 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 337
Tanja2211 0:1594bb11fa13 338 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 0:1594bb11fa13 339 yB1=1;
Tanja2211 0:1594bb11fa13 340 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 0:1594bb11fa13 341 yB2=1;
Tanja2211 0:1594bb11fa13 342 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 0:1594bb11fa13 343 yB3=1;
Tanja2211 0:1594bb11fa13 344 } else {
Tanja2211 0:1594bb11fa13 345 yB3=0;
Tanja2211 0:1594bb11fa13 346 }
Tanja2211 0:1594bb11fa13 347 } else {
Tanja2211 0:1594bb11fa13 348 yB2=0;
Tanja2211 0:1594bb11fa13 349 }
Tanja2211 0:1594bb11fa13 350 } else {
Tanja2211 0:1594bb11fa13 351 yB1=0;
Tanja2211 0:1594bb11fa13 352 }
Tanja2211 0:1594bb11fa13 353
Tanja2211 0:1594bb11fa13 354 pc.printf("Biceps meting is klaar.\n");
Tanja2211 0:1594bb11fa13 355 myled1 = 1;
Tanja2211 0:1594bb11fa13 356 myled2 = 1;
Tanja2211 0:1594bb11fa13 357 myled3 = 0;
Tanja2211 0:1594bb11fa13 358
Tanja2211 0:1594bb11fa13 359 //*** INPUT MOTOR 1 ***
Tanja2211 0:1594bb11fa13 360 snelheidsstand=yB1+yB2+yB3;
Tanja2211 0:1594bb11fa13 361
Tanja2211 0:1594bb11fa13 362 //controle snelheidsstand op scherm
Tanja2211 0:1594bb11fa13 363 if (snelheidsstand==0) {
Tanja2211 0:1594bb11fa13 364 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 0:1594bb11fa13 365 } else {
Tanja2211 0:1594bb11fa13 366 if (snelheidsstand==1) {
Tanja2211 0:1594bb11fa13 367 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 368 } else {
Tanja2211 0:1594bb11fa13 369 if (snelheidsstand==2) {
Tanja2211 0:1594bb11fa13 370 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 371 } else {
Tanja2211 0:1594bb11fa13 372 if (snelheidsstand==3) {
Tanja2211 0:1594bb11fa13 373 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 374 }
Tanja2211 0:1594bb11fa13 375 }
Tanja2211 0:1594bb11fa13 376 }
Tanja2211 0:1594bb11fa13 377 }
Tanja2211 0:1594bb11fa13 378
Tanja2211 0:1594bb11fa13 379 Ticker looptimer1;
Tanja2211 0:1594bb11fa13 380 //pwm_motor1.write(0.3);
Tanja2211 0:1594bb11fa13 381 motordir1 = 1;
Tanja2211 0:1594bb11fa13 382 stop = 0;
Tanja2211 0:1594bb11fa13 383 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 0:1594bb11fa13 384 wait(8); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 0:1594bb11fa13 385 looptimer1.detach();
Tanja2211 0:1594bb11fa13 386 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 387 pwm_motor1.write(0);
Tanja2211 0:1594bb11fa13 388
Tanja2211 0:1594bb11fa13 389 myled1=1;
Tanja2211 0:1594bb11fa13 390 myled2=1;
Tanja2211 0:1594bb11fa13 391 myled3=1;
Tanja2211 0:1594bb11fa13 392 }
Tanja2211 0:1594bb11fa13 393 }
Tanja2211 0:1594bb11fa13 394 }
Tanja2211 0:1594bb11fa13 395 }//end int main
Tanja2211 0:1594bb11fa13 396
Tanja2211 0:1594bb11fa13 397
Tanja2211 0:1594bb11fa13 398 float pid(float setspeed, float measurement)
Tanja2211 0:1594bb11fa13 399 {
Tanja2211 0:1594bb11fa13 400 float error;
Tanja2211 0:1594bb11fa13 401 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 402 float out_p = 0;
Tanja2211 0:1594bb11fa13 403 static float out_i = 0;
Tanja2211 0:1594bb11fa13 404 float out_d = 0;
Tanja2211 0:1594bb11fa13 405 error = setspeed-measurement;
Tanja2211 0:1594bb11fa13 406 out_p = error*K_P;
Tanja2211 0:1594bb11fa13 407 out_i += error*K_I;
Tanja2211 0:1594bb11fa13 408 out_d = (error-prev_error)*K_D;
Tanja2211 0:1594bb11fa13 409 prev_error = error;
Tanja2211 0:1594bb11fa13 410 return out_p + out_i + out_d;
Tanja2211 0:1594bb11fa13 411 }
Tanja2211 0:1594bb11fa13 412
Tanja2211 0:1594bb11fa13 413 void Triceps()
Tanja2211 0:1594bb11fa13 414 {
Tanja2211 0:1594bb11fa13 415 //Triceps lezen
Tanja2211 0:1594bb11fa13 416 emg_valueT = emgT.read_u16();
Tanja2211 0:1594bb11fa13 417 emg_value_f32T = emgT.read();
Tanja2211 0:1594bb11fa13 418
Tanja2211 0:1594bb11fa13 419 //Triceps filteren
Tanja2211 0:1594bb11fa13 420 arm_biquad_cascade_df1_f32(&notchT, &emg_value_f32T, &filtered_emgT, 1);
Tanja2211 0:1594bb11fa13 421 arm_biquad_cascade_df1_f32(&lowpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 422 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 423 arm_biquad_cascade_df1_f32(&highpassT, &filtered_emgT, &filtered_emgT, 1 );
Tanja2211 0:1594bb11fa13 424 filtered_emgT = fabs(filtered_emgT);
Tanja2211 0:1594bb11fa13 425
Tanja2211 0:1594bb11fa13 426 //Triceps moving average
Tanja2211 0:1594bb11fa13 427 T0=filtered_emgT*1000;
Tanja2211 0:1594bb11fa13 428 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 429 T29=T28;
Tanja2211 0:1594bb11fa13 430 T28=T27;
Tanja2211 0:1594bb11fa13 431 T27=T26;
Tanja2211 0:1594bb11fa13 432 T26=T25;
Tanja2211 0:1594bb11fa13 433 T25=T24;
Tanja2211 0:1594bb11fa13 434 T24=T23;
Tanja2211 0:1594bb11fa13 435 T23=T22;
Tanja2211 0:1594bb11fa13 436 T22=T21;
Tanja2211 0:1594bb11fa13 437 T21=T20;
Tanja2211 0:1594bb11fa13 438 T20=T19;
Tanja2211 0:1594bb11fa13 439 T19=T18;
Tanja2211 0:1594bb11fa13 440 T18=T17;
Tanja2211 0:1594bb11fa13 441 T17=T16;
Tanja2211 0:1594bb11fa13 442 T16=T15;
Tanja2211 0:1594bb11fa13 443 T15=T14;
Tanja2211 0:1594bb11fa13 444 T14=T13;
Tanja2211 0:1594bb11fa13 445 T13=T12;
Tanja2211 0:1594bb11fa13 446 T12=T11;
Tanja2211 0:1594bb11fa13 447 T11=T10;
Tanja2211 0:1594bb11fa13 448 T10=T9;
Tanja2211 0:1594bb11fa13 449 T9=T8;
Tanja2211 0:1594bb11fa13 450 T8=T7;
Tanja2211 0:1594bb11fa13 451 T7=T6;
Tanja2211 0:1594bb11fa13 452 T6=T5;
Tanja2211 0:1594bb11fa13 453 T5=T4;
Tanja2211 0:1594bb11fa13 454 T4=T3;
Tanja2211 0:1594bb11fa13 455 T3=T2;
Tanja2211 0:1594bb11fa13 456 T2=T1;
Tanja2211 0:1594bb11fa13 457 T1=T0;
Tanja2211 0:1594bb11fa13 458
Tanja2211 0:1594bb11fa13 459 //sturen naar scherm (Realterm)
Tanja2211 0:1594bb11fa13 460 pc.printf("Moving average T %f\r\n",MOVAVG_T);
Tanja2211 0:1594bb11fa13 461
Tanja2211 0:1594bb11fa13 462 //sturen naar HID Scope
Tanja2211 0:1594bb11fa13 463 scope.set(0,emg_valueT); //ruwe data
Tanja2211 0:1594bb11fa13 464 scope.set(1,filtered_emgT); //filtered
Tanja2211 0:1594bb11fa13 465 scope.send();
Tanja2211 0:1594bb11fa13 466 }
Tanja2211 0:1594bb11fa13 467
Tanja2211 0:1594bb11fa13 468 void Biceps()
Tanja2211 0:1594bb11fa13 469 {
Tanja2211 0:1594bb11fa13 470 //Biceps lezen
Tanja2211 0:1594bb11fa13 471 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 472 emg_value_f32B = emgB.read();
Tanja2211 0:1594bb11fa13 473
Tanja2211 0:1594bb11fa13 474 //Biceps filteren
Tanja2211 0:1594bb11fa13 475 arm_biquad_cascade_df1_f32(&notchB, &emg_value_f32B, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 476 arm_biquad_cascade_df1_f32(&lowpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 477 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 478 arm_biquad_cascade_df1_f32(&highpassB, &filtered_emgB, &filtered_emgB, 1 );
Tanja2211 0:1594bb11fa13 479 filtered_emgB = fabs(filtered_emgB);
Tanja2211 0:1594bb11fa13 480
Tanja2211 0:1594bb11fa13 481 //Biceps moving average
Tanja2211 0:1594bb11fa13 482 B0=filtered_emgB*1000;
Tanja2211 0:1594bb11fa13 483 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 484 B59=B58;
Tanja2211 0:1594bb11fa13 485 B58=B57;
Tanja2211 0:1594bb11fa13 486 B57=B56;
Tanja2211 0:1594bb11fa13 487 B56=B55;
Tanja2211 0:1594bb11fa13 488 B55=B54;
Tanja2211 0:1594bb11fa13 489 B54=B53;
Tanja2211 0:1594bb11fa13 490 B53=B52;
Tanja2211 0:1594bb11fa13 491 B52=B51;
Tanja2211 0:1594bb11fa13 492 B51=B50;
Tanja2211 0:1594bb11fa13 493 B50=B48;
Tanja2211 0:1594bb11fa13 494 B49=B49;
Tanja2211 0:1594bb11fa13 495 B48=B47;
Tanja2211 0:1594bb11fa13 496 B47=B46;
Tanja2211 0:1594bb11fa13 497 B46=B45;
Tanja2211 0:1594bb11fa13 498 B45=B44;
Tanja2211 0:1594bb11fa13 499 B44=B43;
Tanja2211 0:1594bb11fa13 500 B43=B42;
Tanja2211 0:1594bb11fa13 501 B42=B41;
Tanja2211 0:1594bb11fa13 502 B41=B40;
Tanja2211 0:1594bb11fa13 503 B40=B39;
Tanja2211 0:1594bb11fa13 504 B39=B38;
Tanja2211 0:1594bb11fa13 505 B38=B37;
Tanja2211 0:1594bb11fa13 506 B37=B36;
Tanja2211 0:1594bb11fa13 507 B36=B35;
Tanja2211 0:1594bb11fa13 508 B35=B34;
Tanja2211 0:1594bb11fa13 509 B34=B33;
Tanja2211 0:1594bb11fa13 510 B33=B32;
Tanja2211 0:1594bb11fa13 511 B32=B31;
Tanja2211 0:1594bb11fa13 512 B31=B30;
Tanja2211 0:1594bb11fa13 513 B30=B29;
Tanja2211 0:1594bb11fa13 514 B29=B28;
Tanja2211 0:1594bb11fa13 515 B28=B27;
Tanja2211 0:1594bb11fa13 516 B27=B26;
Tanja2211 0:1594bb11fa13 517 B26=B25;
Tanja2211 0:1594bb11fa13 518 B25=B24;
Tanja2211 0:1594bb11fa13 519 B24=B23;
Tanja2211 0:1594bb11fa13 520 B23=B22;
Tanja2211 0:1594bb11fa13 521 B22=B21;
Tanja2211 0:1594bb11fa13 522 B21=B20;
Tanja2211 0:1594bb11fa13 523 B20=B19;
Tanja2211 0:1594bb11fa13 524 B19=B18;
Tanja2211 0:1594bb11fa13 525 B18=B17;
Tanja2211 0:1594bb11fa13 526 B17=B16;
Tanja2211 0:1594bb11fa13 527 B16=B15;
Tanja2211 0:1594bb11fa13 528 B15=B14;
Tanja2211 0:1594bb11fa13 529 B14=B13;
Tanja2211 0:1594bb11fa13 530 B13=B12;
Tanja2211 0:1594bb11fa13 531 B12=B11;
Tanja2211 0:1594bb11fa13 532 B11=B10;
Tanja2211 0:1594bb11fa13 533 B10=B9;
Tanja2211 0:1594bb11fa13 534 B9=B8;
Tanja2211 0:1594bb11fa13 535 B8=B7;
Tanja2211 0:1594bb11fa13 536 B7=B6;
Tanja2211 0:1594bb11fa13 537 B6=B5;
Tanja2211 0:1594bb11fa13 538 B5=B4;
Tanja2211 0:1594bb11fa13 539 B4=B3;
Tanja2211 0:1594bb11fa13 540 B3=B2;
Tanja2211 0:1594bb11fa13 541 B2=B1;
Tanja2211 0:1594bb11fa13 542 B1=B0;
Tanja2211 0:1594bb11fa13 543
Tanja2211 0:1594bb11fa13 544 //sturen naar scherm
Tanja2211 0:1594bb11fa13 545 pc.printf("Moving average B %f\r\n",MOVAVG_B);
Tanja2211 0:1594bb11fa13 546
Tanja2211 0:1594bb11fa13 547 //naar HID Scope
Tanja2211 0:1594bb11fa13 548 scope.set(2,emg_valueB); //ruwe data
Tanja2211 0:1594bb11fa13 549 scope.set(3,filtered_emgB); //filtered
Tanja2211 0:1594bb11fa13 550 scope.send();
Tanja2211 0:1594bb11fa13 551 }
Tanja2211 0:1594bb11fa13 552
Tanja2211 0:1594bb11fa13 553 void Calibratie_Triceps()
Tanja2211 0:1594bb11fa13 554 {
Tanja2211 0:1594bb11fa13 555 Ticker log_timerT;
Tanja2211 0:1594bb11fa13 556
Tanja2211 0:1594bb11fa13 557 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 558 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 559 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 560
Tanja2211 0:1594bb11fa13 561 log_timerT.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 562 wait(2);
Tanja2211 0:1594bb11fa13 563 log_timerT.detach();
Tanja2211 0:1594bb11fa13 564 }
Tanja2211 0:1594bb11fa13 565
Tanja2211 0:1594bb11fa13 566 void Calibratie_Biceps()
Tanja2211 0:1594bb11fa13 567 {
Tanja2211 0:1594bb11fa13 568 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 569
Tanja2211 0:1594bb11fa13 570 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 571 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 572 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 573
Tanja2211 0:1594bb11fa13 574 log_timerB.attach(Biceps, 0.005);
Tanja2211 0:1594bb11fa13 575 wait(2);
Tanja2211 0:1594bb11fa13 576 log_timerB.detach();
Tanja2211 0:1594bb11fa13 577 }
Tanja2211 0:1594bb11fa13 578
Tanja2211 0:1594bb11fa13 579 void motor2aansturing()
Tanja2211 0:1594bb11fa13 580 {
Tanja2211 0:1594bb11fa13 581 if (positie == 0) {
Tanja2211 0:1594bb11fa13 582 if (motor2.getPosition()>= 0) {
Tanja2211 0:1594bb11fa13 583 motordir2 = 1;
Tanja2211 0:1594bb11fa13 584 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 585 } else {
Tanja2211 0:1594bb11fa13 586 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 587 }
Tanja2211 0:1594bb11fa13 588 }
Tanja2211 0:1594bb11fa13 589 if (positie ==1) {
Tanja2211 0:1594bb11fa13 590 if (motor2.getPosition()>= 2) {
Tanja2211 0:1594bb11fa13 591 motordir2 = 1;
Tanja2211 0:1594bb11fa13 592 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 593 }
Tanja2211 0:1594bb11fa13 594 if (motor2.getPosition()<= 2) {
Tanja2211 0:1594bb11fa13 595 motordir2 = 0;
Tanja2211 0:1594bb11fa13 596 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 597 } else {
Tanja2211 0:1594bb11fa13 598 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 599 }
Tanja2211 0:1594bb11fa13 600 }
Tanja2211 0:1594bb11fa13 601 if (positie ==2) {
Tanja2211 0:1594bb11fa13 602 if (motor2.getPosition()<= 4) {
Tanja2211 0:1594bb11fa13 603 motordir2 = 0;
Tanja2211 0:1594bb11fa13 604 pwm_motor2.write(PWM2);
Tanja2211 0:1594bb11fa13 605 } else {
Tanja2211 0:1594bb11fa13 606 pwm_motor2.write(0);
Tanja2211 0:1594bb11fa13 607 }
Tanja2211 0:1594bb11fa13 608 } //end if
Tanja2211 0:1594bb11fa13 609 }
Tanja2211 0:1594bb11fa13 610
Tanja2211 0:1594bb11fa13 611 void motor1aansturing()
Tanja2211 0:1594bb11fa13 612 {
Tanja2211 0:1594bb11fa13 613
Tanja2211 2:455216d1b5ba 614 if (abs(motor1.getPosition())<= ANGLEMIN && toestand != SLAAN) {
Tanja2211 0:1594bb11fa13 615 toestand = WACHTEN;
Tanja2211 2:455216d1b5ba 616 pc.printf("if1\n");
Tanja2211 0:1594bb11fa13 617 }
Tanja2211 0:1594bb11fa13 618 if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is
Tanja2211 0:1594bb11fa13 619 toestand = SLAAN;
Tanja2211 0:1594bb11fa13 620 pc.printf("slaan \n");
Tanja2211 0:1594bb11fa13 621 if ( snelheidsstand==3) {
Tanja2211 0:1594bb11fa13 622 setspeed = V3; pc.printf("Snel 3 \n");
Tanja2211 0:1594bb11fa13 623 }
Tanja2211 0:1594bb11fa13 624 if ( snelheidsstand==2) {
Tanja2211 0:1594bb11fa13 625 setspeed = V2; pc.printf("Snel 2\n");
Tanja2211 0:1594bb11fa13 626 }
Tanja2211 0:1594bb11fa13 627 if ( snelheidsstand==1) {
Tanja2211 0:1594bb11fa13 628 setspeed = V1; pc.printf("Snel 1 \n");
Tanja2211 0:1594bb11fa13 629 }
Tanja2211 0:1594bb11fa13 630 }
Tanja2211 0:1594bb11fa13 631 if (toestand == SLAAN && abs(motor1.getPosition()) >= ANGLEMAX) {
Jolein 1:5d30a2ea2e11 632 pc.printf("toestand = terugkeren\n\r");
Tanja2211 0:1594bb11fa13 633 toestand = TERUGKEREN;
Tanja2211 0:1594bb11fa13 634 stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is...
Tanja2211 0:1594bb11fa13 635 }
Tanja2211 0:1594bb11fa13 636 if (toestand == TERUGKEREN) {
Jolein 1:5d30a2ea2e11 637 pc.printf("motor gaat terugkeren\n\r");
Tanja2211 2:455216d1b5ba 638 //pid(Vreturn, motor1.getSpeed());
Tanja2211 2:455216d1b5ba 639 pwm_motor1.write(0.5);
Tanja2211 2:455216d1b5ba 640 pc.printf("new pwm %f\r\n",new_pwm);
Jolein 1:5d30a2ea2e11 641 motordir1 = 0;
Tanja2211 0:1594bb11fa13 642 }
Tanja2211 0:1594bb11fa13 643 if (toestand == WACHTEN) {
Tanja2211 0:1594bb11fa13 644 pwm_motor1.write(0);
Tanja2211 2:455216d1b5ba 645 pc.printf("ifwachten\n");
Tanja2211 0:1594bb11fa13 646 }
Tanja2211 0:1594bb11fa13 647 if (toestand == SLAAN) {
Tanja2211 0:1594bb11fa13 648 new_pwm = pid(setspeed, motor1.getSpeed());
Jolein 1:5d30a2ea2e11 649 motordir1 = 1;
Tanja2211 0:1594bb11fa13 650 pwm_motor1.write(new_pwm);
Tanja2211 2:455216d1b5ba 651 pc.printf("SLAAN\n");
Tanja2211 2:455216d1b5ba 652
Tanja2211 0:1594bb11fa13 653 }
Tanja2211 0:1594bb11fa13 654 }