File content as of revision 6:91cdad4e00e8:

#include <math.h>
#include "mbed.h"
#include "MODSERIAL.h"
#include "QEI.h"
#include "FastPWM.h"
#include "HIDScope.h"
#include <stdio.h>      /* printf */
#include <stdlib.h>     /* abs */
#include <complex>
#include "BiQuad.h"


const double PI = 3.1415926535897;

InterruptIn but1(D1);
InterruptIn but2(D0);
DigitalIn butsw2(SW3);
DigitalIn butsw3(SW2);
AnalogIn potMeter1(A5);
AnalogIn potMeter2(A4);

DigitalOut motor1_direction(D4);                                                //richting van motor1
FastPWM motor1_pwm(D5);                                                         //Motor 1 PWM controle van de snelheid
DigitalOut motor2_direction(D7);                                                //richting van motor2
FastPWM motor2_pwm(D6);                                                         //Motor 2 PWM controle van de snelheid

Ticker loop_ticker;
// SERIAL COMMUNICATION WITH PC.................................................
Serial pc(USBTX, USBRX);

enum States {s_idle, s_calibratie_encoder, s_demonstratie, s_EMGcalibration, s_EMG};
States state;

// ENCODER .....................................................................
QEI enc1 (D13, D12, NC, 4200); //encoder 1 gebruiken
QEI enc2 (D9,  D8,  NC, 4200); //encoder 2 gebruiken

const float dt = 0.001;
double e_int = 0;
double e_int2 = 0;
double theta1;
double theta2;
int enc1_zero = 0;
int enc2_zero = 0;
int enc1_value;
int enc2_value;
const int maxwaarde = 400;

volatile double Huidigepositie1=0;
volatile double Huidigepositie2=0;
volatile double motorValue1;
volatile double motorValue2;
volatile double refP;
volatile double refP2;
volatile double error1;
volatile double error2;

bool state_changed = false;
volatile bool A=true;
volatile bool B=true;
volatile bool but1_pressed = false;
volatile bool but2_pressed = false;
volatile bool butsw2_pressed = false;
volatile bool butsw3_pressed = false;
volatile bool failure_occurred = false;

const bool clockwise = true;
volatile bool direction1 = clockwise;
volatile bool direction2 = clockwise;

// RKI VARIABELEN...............................................................
// Lengtes zijn in meters
// Vaste variabelen:
const double L0 = 0.25;                                                         // lengte arm 1 --> moet nog goed worden opgemeten!
const double L2 = 0.375;                                                         // Lengte arm 2 --> moet ook nog goed opgemeten worden!
const double r_trans = 0.035;                                                   // gebruiken voor translation naar shaft rotation

// Variërende variabelen:
double q1 = 0;                                                                  // Motorhoek van joint 1 op beginpositie
double q2 = PI/2;                                                               // Motorhoek van joint 2 op beginpositie
double v_x;                                                                     // Snelheid van end effector in x richting --> Door EMG signals
double v_y;                                                                     // Snelheid van end effector in y richting --> Door EMG signals

double Lq1;                                                                     // Translatieafstand als gevolg van motor rotation joint 1
double Cq2;                                                                     // Joint angle van het systeem (gecorrigeerd voor gear ratio 1:1.1)

double q1_dot;                                                                  // Benodigde hoeksnelheid van motor 1
double q2_dot;                                                                  // Benodigde hoeksnelheid van motor 2

double q1_ii;                                                                   // Referentie signaal voor motorhoek q1
double q2_ii;                                                                   // Referentie signaal voor motorhoek q2

//PI VARIABELEN................................................................
const double kp=0.002;                                                          // Soort van geschaald --> meer onderzoek nodig
const double ki=0.0001;
const double kp2=0.002;
const double ki2=0.0001;

//FILTERS EMG...................................................................

//Filters Linker Biceps
//In de volgorde High pass, notch, low pass
BiQuad LBHP1(0.995566972017647,  -1.991133944035294,   0.995566972017647, 1.000000000000000,  -1.991114292201654,   0.991153595868935);
BiQuad LBN1( 0.5, 0, 0.5, 0, 0);
BiQuad LBLP1(0000.087655548754006,   0000.175311097508013,   0000.087655548754006,    1.000000000000000,  -1.973344249781299,   0.973694871976315);
BiQuadChain LeftBicepHP;
BiQuadChain LeftBicepN;
BiQuadChain LeftBicepLP;

//Filters Rechter Biceps
//In de volgorde High pass, notch, low pass
BiQuad RBHP1(0.995566972017647,  -1.991133944035294,   0.995566972017647, 1.000000000000000,  -1.991114292201654,   0.991153595868935);
BiQuad RBN1( 0.5, 0, 0.5, 0, 0);
BiQuad RBLP1(0000.087655548754006,   0000.175311097508013,   0000.087655548754006,  1.000000000000000,  -1.973344249781299,   0.973694871976315);
BiQuadChain RightBicepHP;
BiQuadChain RightBicepN;
BiQuadChain RightBicepLP;


//Filters Rechter Quadriceps
//In de volgorde High pass, notch, low pass
BiQuad RQHP1(0.995566972017647,  -1.991133944035294,  0.995566972017647,1.000000000000000,  -1.991114292201654,  0.991153595868935);
BiQuad RQN1( 0.5, 0, 0.5, 0, 0);
BiQuad RQLP1(0000.087655548754006, 0.175311097508013,  0.087655548754006,  1.000000000000000, -1.973344249781299, 0.973694871976315);
BiQuadChain RightLegHP;
BiQuadChain RightLegN;
BiQuadChain RightLegLP;

double emgLBHP;
double emgLBN;
double emgLBA;

double emgRBHP;
double emgRBN;
double emgRBA;
double emgRBLP;
double emgAbsRBNotch;

double emgRQN;
double emgRQHP;
double emgRQA;

double emgLBfiltered;
double emgRBfiltered;
double emgRQfiltered;
double emgLBraw;
double emgRBraw;
double emgRQraw;

double threshold_emgLB;
double threshold_emgRB;
double threshold_emgRQ;
double threshold = 0.15;
double emgLB_max = 0.000;
double emgRB_max = 0.000;
double emgRQ_max = 0.000;
double emgLB_maxrust = 0.000;
double emgRB_maxrust = 0.000;
double emgRQ_maxrust = 0.000;
int tijd = 0;
double timecalibration;

double emgsumLB;
double emgsumRB;
double emgsumRQ;
double restmeanLB = 0.000;
double restmeanRB = 0.000;
double restmeanRQ = 0.000;

double LBvalue;
double RBvalue;
double RQvalue;
double emgLBrust;
double emgRBrust;
double emgRQrust;
double RestmeanLB;
double RestmeanRB;
double RestmeanRQ;

DigitalOut led5(LED_RED);

AnalogIn emgLB(A0);     //read EMG left bicep
AnalogIn emgRB(A1);     //read EMG right bicep
AnalogIn emgRQ(A2);     //read EMG right quadriceps

HIDScope scope(6);      //aantal kanalen HIDScope (voor test 5, voor echt 6)

void rest()
// Rust. Hier wordt niets uitgevoerd. Wanneer button1
{
    // wordt ingedrukt gaan we naar de volgende state waar
    if (but1_pressed) {                                                         // de encoders worden gekalibreerd.
        state_changed = true;
        state = s_calibratie_encoder;
        but1_pressed = false;
    }
}

void calibratie_encoder()                                                       // calibratie encoder. Hier worden de encoders gekalibreerd en op
{
    // 0 gezet. Wanneer op button 1 wordt gedrukt gaan we naar de
    if (state_changed) {                                                        // demo modus, wanneer op button 2 wordt gedruk gaan we naar
        pc.printf("Started encoder calibration\r\n");                           // de EMG calibratie
        state_changed = false;
    }
    if (but1_pressed) {
        pc.printf("Encoder has been calibrated \r\n");
        enc1_value = enc1.getPulses(); // wat geeft deze voor soort waarde?
        enc2_value = enc2.getPulses();
        //enc1_value -= enc1_zero;
        //enc2_value -= enc2_zero;
        theta1 = (float)(enc1_value)/(float)(4200)*2*PI;
        theta2 = (float)(enc2_value)/(float)(4200)*2*PI;
        enc1_zero = enc1_value;
        enc2_zero = enc2_value;
        but1_pressed = false;
        state_changed = true;
        state = s_demonstratie;
        pc.printf("enc01: %i\r\n", enc1_zero);
        pc.printf("enc1value: %i\r\n", enc1_value);
        pc.printf("enc02: %i\r\n",enc2_zero);
        pc.printf("enc2value: %i\r\n", enc2_value);
        pc.printf("hoek 1: %f\r\n",theta1);
        pc.printf("hoek 2: %f\r\n",theta2);
    }

    if (but2_pressed) {
        pc.printf("Encoder has been calibrated \r\n");
        enc1_value = enc1.getPulses();
        enc2_value = enc2.getPulses();
        //enc1_value -= enc1_zero;
        //enc2_value -= enc2_zero;
        theta1 = (float)(enc1_value)/(float)(4200)*2*PI;
        theta2 = (float)(enc2_value)/(float)(4200)*2*PI;
        enc1_zero = enc1_value;
        enc2_zero = enc2_value;
        but2_pressed = false;
        state_changed = true;
        state = s_EMGcalibration;
        pc.printf("enc01: %i\r\n", enc1_zero);
        pc.printf("enc1value: %i\r\n", enc1_value);
        pc.printf("enc02: %i\r\n",enc2_zero);
        pc.printf("enc2value: %i\r\n", enc2_value);
        pc.printf("hoek 1: %f\r\n",theta1);
        pc.printf("hoek 2: %f\r\n",theta2);
    }
}

void filteren()
{
    //linkerbicep
    emgLBraw= emgLB.read(); //dit wordt: emgLBoffset
    emgLBHP=LeftBicepHP.step(emgLBraw);
    emgLBN=LeftBicepN.step(emgLBHP);
    emgLBA= fabs(emgLBN);
    emgLBfiltered=LeftBicepLP.step(emgLBA);

    //to show if filter is working
    scope.set(0, emgLBraw);
    scope.set(1, emgLBfiltered);
    scope.set(2, emgRBraw);
    scope.set(3, emgRBfiltered);
    scope.set(4, emgRQraw);
    scope.set(5, emgRQfiltered);

    //rechterbicep
    emgRBraw= emgRB.read();
    emgRBHP= RightBicepHP.step(emgRBraw);
    emgRBN=RightBicepN.step(emgRBHP);
    emgRBA= fabs(emgRBN);
    emgRBfiltered=RightBicepLP.step(emgRBA);

    //Right Quadriceps
    emgRQraw= emgRQ.read();
    emgRQHP= RightLegHP.step(emgRQraw);
    emgRQN= RightLegN.step(emgRQHP);
    emgRQA= fabs(emgRQN);
    emgRQfiltered=RightLegLP.step(emgRQA);

    scope.send();

}

void EMGcalibration()
{
    if(state_changed) {
        state_changed = false;
    }
    /*if (state_changed) {  */
    //pc.printf("Started EMG calibration\r\n");
    tijd= tijd + 1;    //idealiter op een andere plek haha
    /*if (but1_pressed) {
        pc.printf("EMG calibratie \r\n");
        but1_pressed = false;*/
    emgLBraw= emgLB.read(); //dit wordt: emgLBoffset
    emgLBHP=LeftBicepHP.step(emgLBraw);
    emgLBN=LeftBicepN.step(emgLBHP);
    emgLBA= fabs(emgLBN);
    emgLBfiltered=LeftBicepLP.step(emgLBA);

    emgRBraw= emgRB.read();
    emgRBHP= RightBicepHP.step(emgRBraw);
    emgRBN=RightBicepN.step(emgRBHP);
    emgRBA= fabs(emgRBN);
    emgRBfiltered=RightBicepLP.step(emgRBA);

    emgRQraw= emgRQ.read();
    emgRQHP= RightLegHP.step(emgRQraw);
    emgRQN= RightLegN.step(emgRQHP);
    emgRQA= fabs(emgRQN);
    emgRQfiltered=RightLegLP.step(emgRQA);

    if (tijd > 1000 && tijd < 6000) {
        emgLBraw= emgLB.read();
        emgLBHP=LeftBicepHP.step(emgLBraw);
        emgLBN=LeftBicepN.step(emgLBHP);
        emgLBA= fabs(emgLBN);
        emgLBfiltered=LeftBicepLP.step(emgLBA);

        if (emgLBfiltered > emgLB_max) {
            emgLB_max = emgLBfiltered;
        }
        //pc.baud(115200);
        //pc.printf("emgLB_max = %f \r\n", emgLB_max);// geen tekst printen in ticker want dat gaat mis xjes
        led5=0; //led gaat aan zodra je linkerbicep moet aanspannen
    }

    else if (tijd > 7000 && tijd < 12000) {
        emgRBraw= emgRB.read();
        emgRBHP= RightBicepHP.step(emgRBraw);
        emgRBN=RightBicepN.step(emgRBHP);
        emgRBA= fabs(emgRBN);
        emgRBfiltered=RightBicepLP.step(emgRBA);
        if (emgRBfiltered > emgRB_max) {
            emgRB_max = emgRBfiltered;
        }
        //pc.printf("emgRB_max = %f \r\n", emgRB_max);
        led5=0; //led gaat uit zodra je rechterbicep moet aanspannen
    }


    else if (tijd > 13000 && tijd < 18000) {
        emgRQraw= emgRQ.read();
        emgRQHP= RightLegHP.step(emgRQraw);
        emgRQN= RightLegN.step(emgRQHP);

        emgRQA= fabs(emgRQN);
        emgRQfiltered=RightLegLP.step(emgRQA);
        if (emgRQfiltered > emgRQ_max) {
            emgRQ_max = emgRQfiltered;
        }
        //pc.printf("emgRQ_max = %f \r\n", emgRQ_max);
        led5=0; //led gaat aan zodra je rechterbeenspier moet aanspannen

    } else {
        led5=1; //led gaat uit zodra kalibratie voltooid
    }


    threshold_emgLB = threshold*emgLB_max;   //bepaal threshold, nu op 0.15*maximale waarde.
    threshold_emgRB = threshold*emgRB_max;
    threshold_emgRQ = threshold*emgRQ_max;

    state_changed = true;
    state = s_EMG;

// wanneer threshold_emgx is bereikt, wordt de brushingmode geactiveerd.
}




void SetMotor1(float motorValue1)
{
    // gegeven motorValue1 <=1, schrijft snelheid naar pwm.
    // MotorValues buiten range worden afgekapt dat ze binnen de range vallen.
    motor1_pwm.write(fabs(motorValue1) > 1 ? 1 : fabs(motorValue1));
}

void SetMotor2(float motorValue2)
{
    motor2_pwm.write(fabs(motorValue2) > 1 ? 1 : fabs(motorValue2));
}

void brushingmode()
{
    if (state_changed) {
        state_changed = false;
    }


    if (emgLBfiltered > threshold_emgLB) {
//tandenborstel naar links (cw/ccw) //direction1/2 = cw/ccw
        motor2_direction.write(direction1);   //1/2 is welke motor
//motor1_direction.write(direction1 = !direction1); //is counterclockwise
        SetMotor2(motorValue2);        //1/2 welke motor

    } else if (emgRBfiltered > threshold_emgRB) {
//tandenborstel naar rechts

    } else if (emgRQfiltered > threshold_emgRQ) {
//tandenborstel naar achter

    } else if (emgRBfiltered > threshold_emgRB && emgLBfiltered > threshold_emgLB) {
//tandenborstel naar voren

    }
}

void demonstratie()
{
    if (state_changed) {                                                        //
        pc.printf("Demonstratie gestart\r\n")   ;                                //
        state_changed = false;
    }
}


void RKI()
{
    Lq1 = q1*r_trans;
    Cq2 = q2/1.1;                               //1.1 is gear ratio

    q1_dot = (v_x + (v_y*(L2*sin(q2/1.1)))/(L0 + q1*r_trans + L2*cos(q2/1.1)))/r_trans;
    q2_dot = (1.1*v_y)/(L0 + q1*r_trans + L2*cos(q2/1.1));

    q1_ii = q1 + q1_dot*dt;
    q2_ii = q2 + q2_dot*dt;

    q1 = q1_ii;
    q2 = q2_ii;

}

double GetReferencePosition()
{
    double Potmeterwaarde = potMeter2.read();

    double refP = Potmeterwaarde*maxwaarde;
    return refP;
}

double GetReferencePosition2()
{
    double potmeterwaarde2 = potMeter1.read();
    double refP2 = potmeterwaarde2*maxwaarde;
    return refP2;
}

double FeedBackControl(double error, double &e_int)
{
    double Proportional= kp*error1;

    e_int = e_int+dt*error1;
    double Integrator = ki*e_int;

    motorValue1 = Proportional + Integrator ;
    return motorValue1;
}

double FeedBackControl2(double error2, double &e_int2)
{
    double Proportional2= kp2*error2;

    e_int2 = e_int2+dt*error2;
    double Integrator2 = ki2*e_int2;

    double motorValue2 = Proportional2 + Integrator2 ;
    return motorValue2;
}

void MeasureAndControl()
{
    // RKI aanroepen
    //RKI();
    // hier the control of the 1st control system
    refP = GetReferencePosition();                    //moet eigenlijk nog met RKI
    Huidigepositie1 = enc1.getPulses();
    error1 = (refP - Huidigepositie1);// make an error
    motorValue1 = FeedBackControl(error1, e_int);
    SetMotor1(motorValue1);
    // hier the control of the 2nd control system
    refP2 = GetReferencePosition2();
    Huidigepositie2 = enc2.getPulses();
    error2 = (refP2 - Huidigepositie2);// make an error
    motorValue2 = FeedBackControl2(error2, e_int2);
    SetMotor2(motorValue2);
    pc.printf("refP = %d, huidigepos = %d, motorvalue = %d, refP2 = %d, huidigepos2 = %d, motorvalue2 = %d \r\n", refP, Huidigepositie1, motorValue1, refP2, Huidigepositie2, Huidigepositie2);

}

void direction()
{
    if (butsw2==0) {
        if (A==true) { // zodat het knopje 1 x wordt afgelezen
            // richting veranderen
            motor1_direction.write(direction1 = !direction1);
            pc.printf("direction: %s\r\n\n", direction1 ? "clockwise" : "counter clockwise");
            A=false;
        }
    } else {
        A=true;
    }

    if (butsw3==0) {
        if (B==true) {
            motor2_direction.write(direction2 = !direction2);
            pc.printf("direction: %s\r\n\n", direction2 ? "clockwise" : "counter clockwise");
            B=false;
        }
    } else {
        B=true;
    }

}

void state_machine()
{
    //run current state
    switch (state) {
        case s_idle:                                                            // in deze state gebeurd niets. Als op knop 1 wordt gedrukt
            rest();                                                             // gaan we over naar s_calibratie_encoder
            break;
        case s_calibratie_encoder:                                              // in deze state worden de encoders gekalibreerd. knop 1 -> s_demonstratie
            calibratie_encoder();                                               // knop 2 -> s_EMGcalibratie
            break;
        case s_demonstratie:                                                    // in deze state kunnen de motors worden bestuurd met de potmeters
            MeasureAndControl();                                                // en switch 2 en 3( pot1,sw2->motor1 / pot2,sw3->motor2
            direction();                                                        // als op knop 2 wordt gedrukt komen we in de s_idle state
            if (but2_pressed) {
                pc.printf("fail. \r\n");
                but2_pressed = false;
                state_changed = true;
                state = s_idle;
            }
            break;
        case s_EMGcalibration:
            EMGcalibration();
            break;
        case s_EMG:
            filteren();
            brushingmode();
            break;

    }
}

void but1_interrupt()
{
    //if(but2.read()) {//both buttons are pressed
    // failure_occurred = true;
    //}
    but1_pressed = true;
    pc.printf("Button 1 pressed \n\r");
}

void but2_interrupt()
{
    //if(but1.read()) {//both buttons are pressed
    //  failure_occurred = true;
    //}
    but2_pressed = true;
    pc.printf("Button 2 pressed \n\r");
}

void main_loop()
{
    state_machine();
}

int main()
{
    pc.baud(115200);
    pc.printf("Executing main()... \r\n");
    state = s_idle;


    but1.fall(&but1_interrupt);
    but2.fall(&but2_interrupt);
    loop_ticker.attach(&main_loop, dt);
    pc.printf("main_loop is running\n\r");

}