Biorobotics 7 / Mbed 2 deprecated State_Machine

State machine

Dependencies:   mbed Adafruit_GFX BioroboticsMotorControl MODSERIAL BioroboticsEMGFilter

main.cpp@16:9c5ef6fe6780, 2018-10-31 (annotated)

Committer:
brass_phoenix
Date:
Wed Oct 31 13:45:46 2018 +0000
Revision:
16:9c5ef6fe6780
Parent:
15:f65b4566193e
Child:
19:53b9729fbab5
+ UNTESTED: Added motor calibration.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:7d25c2ade6c5 1 #include "mbed.h"
MAHCSnijders 0:7d25c2ade6c5 2
brass_phoenix 1:cfa5abca6d43 3 #include "Button.h"
brass_phoenix 3:4b19b6cf6cc7 4 #include "Screen.h"
brass_phoenix 8:9090ab7c19a8 5 #include "motor.h"
brass_phoenix 16:9c5ef6fe6780 6 #include "motor_calibration.h"
MAHCSnijders 0:7d25c2ade6c5 7
brass_phoenix 1:cfa5abca6d43 8
brass_phoenix 1:cfa5abca6d43 9 enum States {waiting, calib_motor, calib_bicep1, calib_bicep2, homing, operation, failure}; // The possible states of the state machine
MAHCSnijders 0:7d25c2ade6c5 10
MAHCSnijders 0:7d25c2ade6c5 11 // Global variables
MAHCSnijders 0:7d25c2ade6c5 12 const double PI = 3.14159265359;
brass_phoenix 1:cfa5abca6d43 13 // Main loop wait time per cycle. This does not influence the motor PID or EMG reading frequencies.
brass_phoenix 12:0c10396d0615 14 const float main_loop_wait_time = 0.01;
brass_phoenix 1:cfa5abca6d43 15
brass_phoenix 7:e7f808875bc4 16 // Time between two button polls. Used to debounce the button presses.
brass_phoenix 12:0c10396d0615 17 const float button_poll_interval = 0.05;
brass_phoenix 7:e7f808875bc4 18
brass_phoenix 8:9090ab7c19a8 19 const float pid_period = 0.001; // PID sample period in seconds.
brass_phoenix 8:9090ab7c19a8 20
brass_phoenix 12:0c10396d0615 21 const float Kp = 10.0;
brass_phoenix 12:0c10396d0615 22 const float Ki = 0.1;
brass_phoenix 12:0c10396d0615 23 const float Kd = 0.5;
brass_phoenix 8:9090ab7c19a8 24
brass_phoenix 12:0c10396d0615 25 Motor main_motor(D6, D7, D13, D12);
brass_phoenix 12:0c10396d0615 26 Motor sec_motor(D5, D4, D10, D11);
brass_phoenix 12:0c10396d0615 27
brass_phoenix 12:0c10396d0615 28 // The motor -> main gear ratio is 25 / 60.
brass_phoenix 12:0c10396d0615 29 // The motor -> secondary gear ratio is 25/50
brass_phoenix 12:0c10396d0615 30 const float main_gear_ratio = 25.0/60.0;
brass_phoenix 12:0c10396d0615 31 const float sec_gear_ratio = 25.0/50.0;
brass_phoenix 8:9090ab7c19a8 32
brass_phoenix 1:cfa5abca6d43 33
brass_phoenix 13:88967c004446 34 AnalogIn potmeter1(A5); // Analoge input van potmeter 1 -> Motor 1
brass_phoenix 13:88967c004446 35 AnalogIn potmeter2(A4); // Analoge input van potmeter 2 -> Motor 2
brass_phoenix 13:88967c004446 36
brass_phoenix 13:88967c004446 37
brass_phoenix 1:cfa5abca6d43 38 States current_state; // Defining the state we are currently in
brass_phoenix 2:141cfcafe72b 39 States last_state; // To detect state changes.
MAHCSnijders 0:7d25c2ade6c5 40 Ticker loop_ticker; // Ticker for the loop function
brass_phoenix 1:cfa5abca6d43 41
brass_phoenix 1:cfa5abca6d43 42 // Order of buttons: up_down, left_right, panic
brass_phoenix 1:cfa5abca6d43 43 // D2, D3, D8
brass_phoenix 7:e7f808875bc4 44 Button ud_button(D2);
brass_phoenix 2:141cfcafe72b 45 Button lr_button(D3);
brass_phoenix 7:e7f808875bc4 46 Button p_button(D8);
brass_phoenix 7:e7f808875bc4 47
brass_phoenix 7:e7f808875bc4 48 Ticker button_ticker;
MAHCSnijders 0:7d25c2ade6c5 49
brass_phoenix 1:cfa5abca6d43 50 DigitalOut led_red(LED_RED);
brass_phoenix 1:cfa5abca6d43 51 DigitalOut led_green(LED_GREEN);
brass_phoenix 9:27d00b64076e 52 DigitalOut led_blue(LED_BLUE);
brass_phoenix 1:cfa5abca6d43 53
brass_phoenix 3:4b19b6cf6cc7 54 // The last arguent is the reset pin.
brass_phoenix 3:4b19b6cf6cc7 55 // The screen doesn't use it, but the library requires it
brass_phoenix 3:4b19b6cf6cc7 56 // So pick a pin we don't use.
brass_phoenix 3:4b19b6cf6cc7 57 Screen screen(D14, D15, D9);
brass_phoenix 2:141cfcafe72b 58
brass_phoenix 12:0c10396d0615 59 // Which direction the emg will control the arm.
brass_phoenix 12:0c10396d0615 60 // Up or down.
brass_phoenix 12:0c10396d0615 61 // Left or right.
brass_phoenix 12:0c10396d0615 62 bool control_goes_up = false;
brass_phoenix 12:0c10396d0615 63 bool control_goes_right = false;
brass_phoenix 12:0c10396d0615 64
brass_phoenix 3:4b19b6cf6cc7 65
brass_phoenix 3:4b19b6cf6cc7 66 void do_state_waiting()
brass_phoenix 3:4b19b6cf6cc7 67 {
brass_phoenix 4:5a44ab7e94b3 68 if(last_state != current_state) {
brass_phoenix 4:5a44ab7e94b3 69 last_state = current_state;
brass_phoenix 4:5a44ab7e94b3 70 // State just changed to this one.
brass_phoenix 4:5a44ab7e94b3 71
brass_phoenix 4:5a44ab7e94b3 72 led_green = 1;
brass_phoenix 6:bfc6e68774f5 73 screen.clear_display();
brass_phoenix 4:5a44ab7e94b3 74 screen.display_state_name("Waiting");
brass_phoenix 6:bfc6e68774f5 75 screen.get_screen_handle()->printf(" Press to start ");
brass_phoenix 6:bfc6e68774f5 76 screen.get_screen_handle()->printf(" | ");
brass_phoenix 6:bfc6e68774f5 77 screen.get_screen_handle()->printf(" V ");
brass_phoenix 6:bfc6e68774f5 78 screen.display();
brass_phoenix 4:5a44ab7e94b3 79 }
brass_phoenix 4:5a44ab7e94b3 80
brass_phoenix 9:27d00b64076e 81 if (ud_button.has_just_been_pressed()) {
brass_phoenix 2:141cfcafe72b 82 current_state = calib_motor;
brass_phoenix 2:141cfcafe72b 83 }
brass_phoenix 2:141cfcafe72b 84 }
brass_phoenix 2:141cfcafe72b 85
brass_phoenix 3:4b19b6cf6cc7 86 void do_state_calib_motor()
brass_phoenix 3:4b19b6cf6cc7 87 {
brass_phoenix 16:9c5ef6fe6780 88 static double main_last_angle;
brass_phoenix 16:9c5ef6fe6780 89 static double sec_last_angle;
brass_phoenix 16:9c5ef6fe6780 90 static int main_iterations_not_moving;
brass_phoenix 16:9c5ef6fe6780 91 static int sec_iterations_not_moving;
brass_phoenix 16:9c5ef6fe6780 92 static bool main_is_calibrated;
brass_phoenix 16:9c5ef6fe6780 93 static bool sec_is_calibrated;
brass_phoenix 16:9c5ef6fe6780 94
brass_phoenix 2:141cfcafe72b 95 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 96 last_state = current_state;
brass_phoenix 2:141cfcafe72b 97 // State just changed to this one.
brass_phoenix 3:4b19b6cf6cc7 98
brass_phoenix 2:141cfcafe72b 99 led_green = 0;
brass_phoenix 6:bfc6e68774f5 100 screen.clear_display();
brass_phoenix 5:2632dfc8454c 101 screen.display_state_name("Motor calibration");
brass_phoenix 16:9c5ef6fe6780 102
brass_phoenix 16:9c5ef6fe6780 103 main_last_angle = -10;
brass_phoenix 16:9c5ef6fe6780 104 sec_last_angle = -10;
brass_phoenix 16:9c5ef6fe6780 105 main_iterations_not_moving = 0;
brass_phoenix 16:9c5ef6fe6780 106 sec_iterations_not_moving = 0;
brass_phoenix 16:9c5ef6fe6780 107 main_is_calibrated = false;
brass_phoenix 16:9c5ef6fe6780 108 sec_is_calibrated = false;
brass_phoenix 2:141cfcafe72b 109 }
brass_phoenix 9:27d00b64076e 110
brass_phoenix 16:9c5ef6fe6780 111 if (!main_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 112 main_is_calibrated = calibrate_motor(main_motor, main_last_angle, main_iterations_not_moving);
brass_phoenix 16:9c5ef6fe6780 113 if (main_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 114 main_motor.define_current_angle_as_x_radians(0.785398); // 45 degrees.
brass_phoenix 16:9c5ef6fe6780 115 }
brass_phoenix 16:9c5ef6fe6780 116 }
brass_phoenix 16:9c5ef6fe6780 117 if (!sec_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 118 sec_is_calibrated = calibrate_motor(sec_motor, sec_last_angle, sec_iterations_not_moving);
brass_phoenix 16:9c5ef6fe6780 119 if (sec_is_calibrated) {
brass_phoenix 16:9c5ef6fe6780 120 sec_motor.define_current_angle_as_x_radians(-0.733038); // -42 degrees.
brass_phoenix 16:9c5ef6fe6780 121 }
brass_phoenix 16:9c5ef6fe6780 122 }
brass_phoenix 16:9c5ef6fe6780 123
brass_phoenix 16:9c5ef6fe6780 124 if (main_is_calibrated && sec_is_calibrated) {
brass_phoenix 9:27d00b64076e 125 current_state = calib_bicep1;
brass_phoenix 9:27d00b64076e 126 }
brass_phoenix 2:141cfcafe72b 127 }
brass_phoenix 2:141cfcafe72b 128
brass_phoenix 3:4b19b6cf6cc7 129 void do_state_calib_bicep1()
brass_phoenix 3:4b19b6cf6cc7 130 {
brass_phoenix 2:141cfcafe72b 131 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 132 last_state = current_state;
brass_phoenix 2:141cfcafe72b 133 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 134 screen.clear_display();
brass_phoenix 5:2632dfc8454c 135 screen.display_state_name("EMG 1 calibration");
brass_phoenix 2:141cfcafe72b 136 }
brass_phoenix 9:27d00b64076e 137
brass_phoenix 9:27d00b64076e 138 if (ud_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 139 current_state = calib_bicep2;
brass_phoenix 9:27d00b64076e 140 }
brass_phoenix 2:141cfcafe72b 141 }
brass_phoenix 2:141cfcafe72b 142
brass_phoenix 3:4b19b6cf6cc7 143 void do_state_calib_bicep2()
brass_phoenix 3:4b19b6cf6cc7 144 {
brass_phoenix 2:141cfcafe72b 145 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 146 last_state = current_state;
brass_phoenix 2:141cfcafe72b 147 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 148 screen.clear_display();
brass_phoenix 5:2632dfc8454c 149 screen.display_state_name("EMG 2 calibration");
brass_phoenix 2:141cfcafe72b 150 }
brass_phoenix 9:27d00b64076e 151
brass_phoenix 9:27d00b64076e 152 if (ud_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 153 current_state = homing;
brass_phoenix 9:27d00b64076e 154 }
brass_phoenix 2:141cfcafe72b 155 }
brass_phoenix 2:141cfcafe72b 156
brass_phoenix 3:4b19b6cf6cc7 157 void do_state_homing()
brass_phoenix 3:4b19b6cf6cc7 158 {
brass_phoenix 2:141cfcafe72b 159 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 160 last_state = current_state;
brass_phoenix 2:141cfcafe72b 161 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 162 screen.clear_display();
brass_phoenix 5:2632dfc8454c 163 screen.display_state_name("Homing");
brass_phoenix 2:141cfcafe72b 164 }
brass_phoenix 9:27d00b64076e 165
brass_phoenix 9:27d00b64076e 166 if (ud_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 167 current_state = operation;
brass_phoenix 9:27d00b64076e 168 }
brass_phoenix 2:141cfcafe72b 169 }
brass_phoenix 2:141cfcafe72b 170
brass_phoenix 3:4b19b6cf6cc7 171 void do_state_operation()
brass_phoenix 3:4b19b6cf6cc7 172 {
brass_phoenix 2:141cfcafe72b 173 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 174 last_state = current_state;
brass_phoenix 2:141cfcafe72b 175 // State just changed to this one.
brass_phoenix 6:bfc6e68774f5 176 screen.clear_display();
brass_phoenix 5:2632dfc8454c 177 screen.display_state_name("Normal operation");
brass_phoenix 15:f65b4566193e 178
brass_phoenix 15:f65b4566193e 179 control_goes_up = true;
brass_phoenix 15:f65b4566193e 180 control_goes_right = true;
brass_phoenix 15:f65b4566193e 181
brass_phoenix 15:f65b4566193e 182 screen.display_up_down_arrow(control_goes_up);
brass_phoenix 15:f65b4566193e 183 screen.display_left_right_arrow(control_goes_right);
brass_phoenix 2:141cfcafe72b 184 }
brass_phoenix 9:27d00b64076e 185
brass_phoenix 14:b97e7a41ec23 186 double main_target = ((potmeter1.read() * 2) - 1) * PI;
brass_phoenix 13:88967c004446 187 main_motor.set_target_angle(main_target);
brass_phoenix 14:b97e7a41ec23 188 double sec_target = ((potmeter2.read() * 2) - 1) * PI;
brass_phoenix 13:88967c004446 189 sec_motor.set_target_angle(sec_target);
brass_phoenix 13:88967c004446 190
brass_phoenix 9:27d00b64076e 191 if (ud_button.has_just_been_pressed()) {
brass_phoenix 12:0c10396d0615 192 control_goes_up = !control_goes_up;
brass_phoenix 15:f65b4566193e 193 screen.display_up_down_arrow(control_goes_up);
brass_phoenix 12:0c10396d0615 194 }
brass_phoenix 12:0c10396d0615 195 if (lr_button.has_just_been_pressed()) {
brass_phoenix 12:0c10396d0615 196 control_goes_right = !control_goes_right;
brass_phoenix 15:f65b4566193e 197 screen.display_left_right_arrow(control_goes_right);
brass_phoenix 9:27d00b64076e 198 }
brass_phoenix 2:141cfcafe72b 199 }
brass_phoenix 2:141cfcafe72b 200
brass_phoenix 3:4b19b6cf6cc7 201 void do_state_failure()
brass_phoenix 3:4b19b6cf6cc7 202 {
brass_phoenix 2:141cfcafe72b 203 if(last_state != current_state) {
brass_phoenix 2:141cfcafe72b 204 last_state = current_state;
brass_phoenix 2:141cfcafe72b 205 // State just changed.
brass_phoenix 2:141cfcafe72b 206 // Update the display.
brass_phoenix 2:141cfcafe72b 207 led_red = 0;
brass_phoenix 2:141cfcafe72b 208 led_green = 1;
brass_phoenix 6:bfc6e68774f5 209 screen.clear_display();
brass_phoenix 11:d980e0e581db 210 screen.display_state_name("STOP");
brass_phoenix 2:141cfcafe72b 211 }
brass_phoenix 3:4b19b6cf6cc7 212
brass_phoenix 2:141cfcafe72b 213 // Stop the motors!
brass_phoenix 12:0c10396d0615 214 main_motor.stop();
brass_phoenix 12:0c10396d0615 215 sec_motor.stop();
brass_phoenix 2:141cfcafe72b 216 }
brass_phoenix 2:141cfcafe72b 217
brass_phoenix 2:141cfcafe72b 218
brass_phoenix 1:cfa5abca6d43 219 void main_loop()
brass_phoenix 1:cfa5abca6d43 220 {
brass_phoenix 1:cfa5abca6d43 221 ud_button.update();
brass_phoenix 1:cfa5abca6d43 222 lr_button.update();
brass_phoenix 1:cfa5abca6d43 223 p_button.update();
brass_phoenix 3:4b19b6cf6cc7 224
brass_phoenix 1:cfa5abca6d43 225 switch (current_state) {
brass_phoenix 1:cfa5abca6d43 226 case waiting:
brass_phoenix 2:141cfcafe72b 227 do_state_waiting();
brass_phoenix 1:cfa5abca6d43 228 break;
brass_phoenix 1:cfa5abca6d43 229 case calib_motor:
brass_phoenix 2:141cfcafe72b 230 do_state_calib_motor();
brass_phoenix 1:cfa5abca6d43 231 break;
brass_phoenix 1:cfa5abca6d43 232 case calib_bicep1:
brass_phoenix 2:141cfcafe72b 233 do_state_calib_bicep1();
brass_phoenix 1:cfa5abca6d43 234 break;
brass_phoenix 1:cfa5abca6d43 235 case calib_bicep2:
brass_phoenix 2:141cfcafe72b 236 do_state_calib_bicep2();
brass_phoenix 1:cfa5abca6d43 237 break;
brass_phoenix 1:cfa5abca6d43 238 case homing:
brass_phoenix 2:141cfcafe72b 239 do_state_homing();
brass_phoenix 1:cfa5abca6d43 240 break;
brass_phoenix 1:cfa5abca6d43 241 case operation:
brass_phoenix 2:141cfcafe72b 242 do_state_operation();
brass_phoenix 1:cfa5abca6d43 243 break;
brass_phoenix 1:cfa5abca6d43 244 case failure:
brass_phoenix 2:141cfcafe72b 245 do_state_failure();
brass_phoenix 1:cfa5abca6d43 246 break;
brass_phoenix 1:cfa5abca6d43 247 }
brass_phoenix 3:4b19b6cf6cc7 248
brass_phoenix 2:141cfcafe72b 249 // Check if the panic button was pressed.
brass_phoenix 2:141cfcafe72b 250 // Doesn't matter in which state we are, we need to go to failure.
brass_phoenix 2:141cfcafe72b 251 if (p_button.is_pressed()) {
brass_phoenix 2:141cfcafe72b 252 current_state = failure;
brass_phoenix 3:4b19b6cf6cc7 253 }
brass_phoenix 1:cfa5abca6d43 254 }
MAHCSnijders 0:7d25c2ade6c5 255
brass_phoenix 7:e7f808875bc4 256 void poll_buttons() {
brass_phoenix 7:e7f808875bc4 257 // We need to poll the pins periodically.
brass_phoenix 7:e7f808875bc4 258 // Normally one would use rise and fall interrupts, so this wouldn't be
brass_phoenix 7:e7f808875bc4 259 // needed. But the buttons we use generate so much chatter that
brass_phoenix 7:e7f808875bc4 260 // sometimes a rising or a falling edge doesn't get registered.
brass_phoenix 7:e7f808875bc4 261 // With all the confusion that accompanies it.
brass_phoenix 7:e7f808875bc4 262 ud_button.poll_pin();
brass_phoenix 7:e7f808875bc4 263 lr_button.poll_pin();
brass_phoenix 7:e7f808875bc4 264 p_button.poll_pin();
brass_phoenix 7:e7f808875bc4 265 }
brass_phoenix 7:e7f808875bc4 266
brass_phoenix 1:cfa5abca6d43 267 int main()
brass_phoenix 1:cfa5abca6d43 268 {
brass_phoenix 1:cfa5abca6d43 269 led_red = 1;
brass_phoenix 9:27d00b64076e 270 led_green = 1;
brass_phoenix 9:27d00b64076e 271 led_blue = 1;
brass_phoenix 8:9090ab7c19a8 272
brass_phoenix 10:b165ccd11afd 273 screen.clear_display();
brass_phoenix 10:b165ccd11afd 274
brass_phoenix 12:0c10396d0615 275 main_motor.set_pid_k_values(Kp, Ki, Kd);
brass_phoenix 12:0c10396d0615 276 sec_motor.set_pid_k_values(Kp, Ki, Kd);
brass_phoenix 12:0c10396d0615 277
brass_phoenix 12:0c10396d0615 278 // One of the motors is reversed in the electronics.
brass_phoenix 12:0c10396d0615 279 // This is fixed in the motor controll board, so we have to account
brass_phoenix 12:0c10396d0615 280 // for it in software.
brass_phoenix 12:0c10396d0615 281 main_motor.set_extra_reduction_ratio(main_gear_ratio);
brass_phoenix 12:0c10396d0615 282 sec_motor.set_extra_reduction_ratio(-sec_gear_ratio);
brass_phoenix 12:0c10396d0615 283
brass_phoenix 8:9090ab7c19a8 284 // Start the motor controller at the desired frequency.
brass_phoenix 12:0c10396d0615 285 main_motor.start(pid_period);
brass_phoenix 12:0c10396d0615 286 sec_motor.start(pid_period);
brass_phoenix 3:4b19b6cf6cc7 287
brass_phoenix 2:141cfcafe72b 288 // Start in the waiting state.
brass_phoenix 1:cfa5abca6d43 289 current_state = waiting;
brass_phoenix 4:5a44ab7e94b3 290 // Pretend we come from the operation state.
brass_phoenix 4:5a44ab7e94b3 291 // So that the waiting state knows it just got started.
brass_phoenix 4:5a44ab7e94b3 292 last_state = operation;
brass_phoenix 7:e7f808875bc4 293
brass_phoenix 7:e7f808875bc4 294 // Start the button polling ticker.
brass_phoenix 7:e7f808875bc4 295 button_ticker.attach(&poll_buttons, button_poll_interval);
brass_phoenix 3:4b19b6cf6cc7 296
brass_phoenix 1:cfa5abca6d43 297 while (true) {
brass_phoenix 1:cfa5abca6d43 298 main_loop();
brass_phoenix 9:27d00b64076e 299
brass_phoenix 9:27d00b64076e 300 // Button debugging.
brass_phoenix 9:27d00b64076e 301 if (ud_button.has_just_been_pressed() || lr_button.has_just_been_pressed() || p_button.has_just_been_pressed()) {
brass_phoenix 9:27d00b64076e 302 led_blue = 0;
brass_phoenix 9:27d00b64076e 303 } else {
brass_phoenix 9:27d00b64076e 304 led_blue = 1;
brass_phoenix 9:27d00b64076e 305 }
brass_phoenix 9:27d00b64076e 306
brass_phoenix 1:cfa5abca6d43 307 wait(main_loop_wait_time);
brass_phoenix 1:cfa5abca6d43 308 }
brass_phoenix 1:cfa5abca6d43 309 }