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@11:d1260f8e5300, 2014-10-30 (annotated)

Committer:
Jolein
Date:
Thu Oct 30 20:11:54 2014 +0000
Revision:
11:d1260f8e5300
Parent:
9:ba7f541cef3a 
met lelijke integrator reset

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();
Jolein 11:d1260f8e5300 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;
Jolein 11:d1260f8e5300 108 static float out_i = 0;
Tanja2211 0:1594bb11fa13 109
Tanja2211 0:1594bb11fa13 110 int main ()
Tanja2211 0:1594bb11fa13 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
Tanja2211 0:1594bb11fa13 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;
Tanja2211 0:1594bb11fa13 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
Tanja2211 0:1594bb11fa13 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;
Tanja2211 0:1594bb11fa13 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;
Tanja2211 0:1594bb11fa13 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;
Tanja2211 0:1594bb11fa13 240 } else {
Tanja2211 0:1594bb11fa13 241
Tanja2211 0:1594bb11fa13 242 pc.printf("eerst positie dan snelheid aangeven /n");
Tanja2211 0:1594bb11fa13 243
Tanja2211 0:1594bb11fa13 244 //bepaling van positie met triceps 1
Tanja2211 0:1594bb11fa13 245 Ticker log_timerT1;
Tanja2211 0:1594bb11fa13 246
Tanja2211 0:1594bb11fa13 247 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 248 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 249 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 250
Tanja2211 0:1594bb11fa13 251 myled1 = 0;
Tanja2211 0:1594bb11fa13 252 myled2 = 1;
Tanja2211 0:1594bb11fa13 253 myled3 = 1;
Tanja2211 0:1594bb11fa13 254
Tanja2211 0:1594bb11fa13 255 log_timerT1.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 256 wait(2);
Tanja2211 0:1594bb11fa13 257 log_timerT1.detach();
Tanja2211 0:1594bb11fa13 258
Tanja2211 0:1594bb11fa13 259 // positie van batje met behulp van Triceps
Tanja2211 0:1594bb11fa13 260
Tanja2211 0:1594bb11fa13 261 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 0:1594bb11fa13 262 yT1=1;
Tanja2211 0:1594bb11fa13 263 } else {
Tanja2211 0:1594bb11fa13 264 yT1=0;
Tanja2211 0:1594bb11fa13 265 }
Tanja2211 0:1594bb11fa13 266
Tanja2211 0:1594bb11fa13 267 pc.printf("Triceps meting 1 is klaar.\n");
Tanja2211 0:1594bb11fa13 268 myled1 = 1;
Tanja2211 0:1594bb11fa13 269 myled2 = 1;
Tanja2211 0:1594bb11fa13 270 myled3 = 0;
Tanja2211 0:1594bb11fa13 271 wait(3);
Tanja2211 0:1594bb11fa13 272
Tanja2211 0:1594bb11fa13 273 //bepaling van positie met tricep 2
Tanja2211 0:1594bb11fa13 274 Ticker log_timerT2;
Tanja2211 0:1594bb11fa13 275
Tanja2211 0:1594bb11fa13 276 arm_biquad_cascade_df1_init_f32(&notchT,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 277 arm_biquad_cascade_df1_init_f32(&lowpassT,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 278 arm_biquad_cascade_df1_init_f32(&highpassT,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 279
Tanja2211 0:1594bb11fa13 280 myled1 = 0;
Tanja2211 0:1594bb11fa13 281 myled2 = 1;
Tanja2211 0:1594bb11fa13 282 myled3 = 1;
Tanja2211 0:1594bb11fa13 283
Tanja2211 0:1594bb11fa13 284 log_timerT2.attach(Triceps, 0.005);
Tanja2211 0:1594bb11fa13 285 wait(2);
Tanja2211 0:1594bb11fa13 286 log_timerT2.detach();
Tanja2211 0:1594bb11fa13 287
Tanja2211 0:1594bb11fa13 288 if (MOVAVG_T >= drempelwaardeT) {
Tanja2211 0:1594bb11fa13 289 yT2=1;
Tanja2211 0:1594bb11fa13 290 } else {
Tanja2211 0:1594bb11fa13 291 yT2=0;
Tanja2211 0:1594bb11fa13 292 }
Tanja2211 0:1594bb11fa13 293
Tanja2211 0:1594bb11fa13 294 pc.printf("Triceps meting 2 is klaar.\n");
Tanja2211 0:1594bb11fa13 295 myled1 = 1;
Tanja2211 0:1594bb11fa13 296 myled2 = 1;
Tanja2211 0:1594bb11fa13 297 myled3 = 0;
Tanja2211 0:1594bb11fa13 298
Tanja2211 0:1594bb11fa13 299 //*** INPUT MOTOR 2 ***
Tanja2211 0:1594bb11fa13 300 positie=yT1+yT2;
Tanja2211 0:1594bb11fa13 301
Tanja2211 0:1594bb11fa13 302 //controle positie op scherm
Tanja2211 0:1594bb11fa13 303 if (positie==0) {
Tanja2211 0:1594bb11fa13 304 pc.printf("Motor 2 blijft op stand 1\n");
Tanja2211 0:1594bb11fa13 305 } else {
Tanja2211 0:1594bb11fa13 306 if (positie==1) {
Tanja2211 0:1594bb11fa13 307 pc.printf("Motor 2 gaat naar stand 2\n");
Tanja2211 0:1594bb11fa13 308 } else {
Tanja2211 0:1594bb11fa13 309 if (positie==2) {
Tanja2211 0:1594bb11fa13 310 pc.printf("Motor 2 gaat naar stand 3\n");
Tanja2211 0:1594bb11fa13 311 }
Tanja2211 0:1594bb11fa13 312 }
Tanja2211 0:1594bb11fa13 313 }
Tanja2211 0:1594bb11fa13 314
Tanja2211 0:1594bb11fa13 315 Ticker looptimer2;
Tanja2211 0:1594bb11fa13 316 looptimer2.attach(motor2aansturing,TSAMP1);
Tanja2211 0:1594bb11fa13 317 wait(8);
Tanja2211 0:1594bb11fa13 318 looptimer2.detach();
Tanja2211 0:1594bb11fa13 319 pc.printf("Detach Motor 1\n");
Tanja2211 0:1594bb11fa13 320
Tanja2211 0:1594bb11fa13 321 //------------------------------------------------------------------------------------------------------------------------------- eind aansturing motor 2
Tanja2211 0:1594bb11fa13 322 wait(2);
Tanja2211 0:1594bb11fa13 323 Ticker log_timerB;
Tanja2211 0:1594bb11fa13 324
Tanja2211 0:1594bb11fa13 325 arm_biquad_cascade_df1_init_f32(&notchB,1,notch_const,notch_states);
Tanja2211 0:1594bb11fa13 326 arm_biquad_cascade_df1_init_f32(&lowpassB,1,lowpass_const,lowpass_states);
Tanja2211 0:1594bb11fa13 327 arm_biquad_cascade_df1_init_f32(&highpassB,1,highpass_const,highpass_states);
Tanja2211 0:1594bb11fa13 328
Tanja2211 0:1594bb11fa13 329 myled1 = 1;
Tanja2211 0:1594bb11fa13 330 myled2 = 0;
Tanja2211 0:1594bb11fa13 331 myled3 = 1;
Tanja2211 0:1594bb11fa13 332
Tanja2211 0:1594bb11fa13 333 log_timerB.attach(Biceps,0.005);
Tanja2211 0:1594bb11fa13 334 wait(2);
Tanja2211 0:1594bb11fa13 335 log_timerB.detach();
Tanja2211 0:1594bb11fa13 336
Tanja2211 0:1594bb11fa13 337 //bepaling van snelheidsstand met biceps
Tanja2211 0:1594bb11fa13 338
Tanja2211 0:1594bb11fa13 339 if (MOVAVG_B >= drempelwaardeB1) {
Tanja2211 0:1594bb11fa13 340 yB1=1;
Tanja2211 0:1594bb11fa13 341 if (MOVAVG_B >= drempelwaardeB2) {
Tanja2211 0:1594bb11fa13 342 yB2=1;
Tanja2211 0:1594bb11fa13 343 if (MOVAVG_B >= drempelwaardeB3) {
Tanja2211 0:1594bb11fa13 344 yB3=1;
Tanja2211 0:1594bb11fa13 345 } else {
Tanja2211 0:1594bb11fa13 346 yB3=0;
Tanja2211 0:1594bb11fa13 347 }
Tanja2211 0:1594bb11fa13 348 } else {
Tanja2211 0:1594bb11fa13 349 yB2=0;
Tanja2211 0:1594bb11fa13 350 }
Tanja2211 0:1594bb11fa13 351 } else {
Tanja2211 0:1594bb11fa13 352 yB1=0;
Tanja2211 0:1594bb11fa13 353 }
Tanja2211 0:1594bb11fa13 354
Tanja2211 0:1594bb11fa13 355 pc.printf("Biceps meting is klaar.\n");
Tanja2211 0:1594bb11fa13 356 myled1 = 1;
Tanja2211 0:1594bb11fa13 357 myled2 = 1;
Tanja2211 0:1594bb11fa13 358 myled3 = 0;
Tanja2211 0:1594bb11fa13 359
Tanja2211 0:1594bb11fa13 360 //*** INPUT MOTOR 1 ***
Tanja2211 0:1594bb11fa13 361 snelheidsstand=yB1+yB2+yB3;
Tanja2211 0:1594bb11fa13 362
Tanja2211 0:1594bb11fa13 363 //controle snelheidsstand op scherm
Tanja2211 0:1594bb11fa13 364 if (snelheidsstand==0) {
Tanja2211 0:1594bb11fa13 365 pc.printf("Motor 1 beweegt niet \n");
Tanja2211 0:1594bb11fa13 366 } else {
Tanja2211 0:1594bb11fa13 367 if (snelheidsstand==1) {
Tanja2211 0:1594bb11fa13 368 pc.printf("Motor 1 beweegt met snelheid 1 \n");
Tanja2211 0:1594bb11fa13 369 } else {
Tanja2211 0:1594bb11fa13 370 if (snelheidsstand==2) {
Tanja2211 0:1594bb11fa13 371 pc.printf("Motor 1 beweegt met snelheid 2 \n");
Tanja2211 0:1594bb11fa13 372 } else {
Tanja2211 0:1594bb11fa13 373 if (snelheidsstand==3) {
Tanja2211 0:1594bb11fa13 374 pc.printf("Motor 1 beweegt met snelheid 3 \n");
Tanja2211 0:1594bb11fa13 375 }
Tanja2211 0:1594bb11fa13 376 }
Tanja2211 0:1594bb11fa13 377 }
Tanja2211 0:1594bb11fa13 378 }
Tanja2211 0:1594bb11fa13 379
Tanja2211 0:1594bb11fa13 380 Ticker looptimer1;
Tanja2211 0:1594bb11fa13 381 //pwm_motor1.write(0.3);
Tanja2211 0:1594bb11fa13 382 motordir1 = 1;
Tanja2211 0:1594bb11fa13 383 stop = 0;
Tanja2211 0:1594bb11fa13 384 looptimer1.attach(motor1aansturing,TSAMP1);
Tanja2211 0:1594bb11fa13 385 wait(8); ////is aan te passen (tijd die nodig is om balletje te slaan
Tanja2211 0:1594bb11fa13 386 looptimer1.detach();
Tanja2211 0:1594bb11fa13 387 pc.printf("detachMotor1\n");
Tanja2211 0:1594bb11fa13 388 pwm_motor1.write(0);
Tanja2211 0:1594bb11fa13 389
Tanja2211 0:1594bb11fa13 390 myled1=1;
Tanja2211 0:1594bb11fa13 391 myled2=1;
Tanja2211 0:1594bb11fa13 392 myled3=1;
Tanja2211 7:b40bbf5be443 393 }
Tanja2211 0:1594bb11fa13 394 }
Tanja2211 0:1594bb11fa13 395 }
Tanja2211 0:1594bb11fa13 396 }//end int main
Tanja2211 0:1594bb11fa13 397
Tanja2211 0:1594bb11fa13 398
Jolein 11:d1260f8e5300 399 float pid(float setspeed, float measurement)
Tanja2211 0:1594bb11fa13 400 {
Tanja2211 0:1594bb11fa13 401 float error;
Tanja2211 0:1594bb11fa13 402 static float prev_error = 0;
Tanja2211 0:1594bb11fa13 403 float out_p = 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 4:68dc27d284f7 614 if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) {
Tanja2211 7:b40bbf5be443 615 toestand = WACHTEN;
Jolein 11:d1260f8e5300 616 out_i = 0; // resets integrator control
Tanja2211 2:455216d1b5ba 617 pc.printf("if1\n");
Tanja2211 0:1594bb11fa13 618 }
Tanja2211 0:1594bb11fa13 619 if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is
Tanja2211 0:1594bb11fa13 620 toestand = SLAAN;
Tanja2211 0:1594bb11fa13 621 pc.printf("slaan \n");
Tanja2211 0:1594bb11fa13 622 if ( snelheidsstand==3) {
Tanja2211 0:1594bb11fa13 623 setspeed = V3; pc.printf("Snel 3 \n");
Tanja2211 0:1594bb11fa13 624 }
Tanja2211 0:1594bb11fa13 625 if ( snelheidsstand==2) {
Tanja2211 0:1594bb11fa13 626 setspeed = V2; pc.printf("Snel 2\n");
Tanja2211 0:1594bb11fa13 627 }
Tanja2211 0:1594bb11fa13 628 if ( snelheidsstand==1) {
Tanja2211 0:1594bb11fa13 629 setspeed = V1; pc.printf("Snel 1 \n");
Tanja2211 0:1594bb11fa13 630 }
Tanja2211 0:1594bb11fa13 631 }
Tanja2211 4:68dc27d284f7 632 if (toestand == SLAAN && motor1.getPosition() <= ANGLEMAX) {
Jolein 1:5d30a2ea2e11 633 pc.printf("toestand = terugkeren\n\r");
Jolein 11:d1260f8e5300 634 out_i = 0; // resets integrator control
Tanja2211 0:1594bb11fa13 635 toestand = TERUGKEREN;
Tanja2211 0:1594bb11fa13 636 stop = 1; //zorgt dat hij niet weer gaat slaan tot er gereset is...
Tanja2211 0:1594bb11fa13 637 }
Tanja2211 0:1594bb11fa13 638 if (toestand == TERUGKEREN) {
Jolein 1:5d30a2ea2e11 639 pc.printf("motor gaat terugkeren\n\r");
Jolein 11:d1260f8e5300 640 new_pwm=pid(setspeed, motor1.getSpeed());
Tanja2211 7:b40bbf5be443 641
Tanja2211 5:8f256c16fe6c 642 pwm_motor1.write(new_pwm);
Tanja2211 2:455216d1b5ba 643 pc.printf("new pwm %f\r\n",new_pwm);
Jolein 1:5d30a2ea2e11 644 motordir1 = 0;
Tanja2211 0:1594bb11fa13 645 }
Tanja2211 0:1594bb11fa13 646 if (toestand == WACHTEN) {
Tanja2211 0:1594bb11fa13 647 pwm_motor1.write(0);
Tanja2211 2:455216d1b5ba 648 pc.printf("ifwachten\n");
Tanja2211 0:1594bb11fa13 649 }
Tanja2211 0:1594bb11fa13 650 if (toestand == SLAAN) {
Jolein 11:d1260f8e5300 651 pid(setspeed, motor1.getSpeed());
Jolein 1:5d30a2ea2e11 652 motordir1 = 1;
Tanja2211 0:1594bb11fa13 653 pwm_motor1.write(new_pwm);
Tanja2211 2:455216d1b5ba 654 pc.printf("SLAAN\n");
Tanja2211 2:455216d1b5ba 655
Tanja2211 0:1594bb11fa13 656 }
Tanja2211 0:1594bb11fa13 657 }