Biorobotics10 / Mbed 2 deprecated Ball-E_script

With this script a Ball-E robot can be made and be operative for the use.

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Samenvoegen_7_5 by Biorobotics10

main.cpp@5:0597358d0016, 2015-10-26 (annotated)

Committer:
EmilyJCZ
Date:
Mon Oct 26 06:21:49 2015 +0000
Revision:
5:0597358d0016
Parent:
4:f9f75c913d7d
Child:
6:1518fccc5616
Nog wat laatste comments toegevoegd. Er moet even gekeken worden naar sample_go. Volgens mij doet het niks namelijk

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EmilyJCZ 3:f9a1df2271d2 1 //======================================================================= Script: Ball-E ==========================================================================
EmilyJCZ 3:f9a1df2271d2 2 // Authors: Ewoud Velu, Lisa Verhoeven, Robert van der Wal, Thijs van der Wal, Emily Zoetbrood
Wallie117 0:6616d722fed3 3 /* This is the script of a EMG measurment moving robot. The purpose of the robot is to amuse people with the disease of Ducenne.
EmilyJCZ 3:f9a1df2271d2 4 The robot is designed to throw a ball in to a certain chosen pocket.
EmilyJCZ 5:0597358d0016 5 In order to achieve this movement we use a ‘arm’ that can turn in the vertical plane and move in the horizontal plane.
Wallie117 0:6616d722fed3 6 */
Wallie117 0:6616d722fed3 7
EmilyJCZ 5:0597358d0016 8 //*********************************************** LIBRARY DECLARATION ********************************************
EmilyJCZ 3:f9a1df2271d2 9 // Libraries are files which contain standard formulas for reading surtain information. Every library contains its own information.
EmilyJCZ 5:0597358d0016 10 #include "mbed.h" // Standard library. This includes the reading of AnalogIn, DigitalOut, PwmOut and other standard formules.
EmilyJCZ 5:0597358d0016 11 #include "QEI.h" // This library includes the reading of of the Encoders from motors.
EmilyJCZ 5:0597358d0016 12 #include "MODSERIAL.h" // MODSERIAL inherits Serial and adds extensions for buffering.
EmilyJCZ 5:0597358d0016 13 #include "HIDScope.h" // This sends the measured EMG signal to the HIDScope.
EmilyJCZ 5:0597358d0016 14 #include "biquadFilter.h" // Because of this library we can make different filters.
EmilyJCZ 5:0597358d0016 15 #include <cmath> // This library declares a set of functions to compute common mathematical operations and transformations. Only used fabs.
EmilyJCZ 5:0597358d0016 16 #include <stdio.h> // This library defines three variable types, several macros, and various functions for performing input and output.
Wallie117 0:6616d722fed3 17
EmilyJCZ 5:0597358d0016 18 //*********************************************** FUNCTION DECLARATION *******************************************
EmilyJCZ 5:0597358d0016 19 //**************************** INPUTS ******************************************************
EmilyJCZ 5:0597358d0016 20 AnalogIn EMG1(A0); // Input left biceps EMG.
EmilyJCZ 5:0597358d0016 21 AnalogIn EMG2(A1); // Input right biceps EMG.
EmilyJCZ 5:0597358d0016 22 QEI wheel1 (D10, D11, NC, 64,QEI::X4_ENCODING); // Function for Encoder1 on the motor1 to the Microcontroller.
EmilyJCZ 5:0597358d0016 23 QEI wheel2 (D12, D13, NC, 64,QEI::X4_ENCODING); // Function for Encoder2 on the motor2 to the Microcontroller.
Wallie117 0:6616d722fed3 24
EmilyJCZ 5:0597358d0016 25 //**************************** OUTPUTS *****************************************************
EmilyJCZ 5:0597358d0016 26 DigitalOut led_red(D1); // Output for red LED decleared.
EmilyJCZ 5:0597358d0016 27 DigitalOut led_yellow(D3); // Output for yellow LED decleared.
EmilyJCZ 5:0597358d0016 28 DigitalOut led_green(D9); // Output for green LED delceared.
EmilyJCZ 5:0597358d0016 29 DigitalOut magnet(D2); // Output for magnet.
EmilyJCZ 5:0597358d0016 30 DigitalOut motor1direction(D4); // Direction for motor 2 on motorshield. This motor moves the arm in fase 2.
EmilyJCZ 5:0597358d0016 31 PwmOut motor1speed(D5); // Speed for motor 2 on motorshield. This motor moves the arm in fase 2.
EmilyJCZ 5:0597358d0016 32 DigitalOut motor2direction(D7); // Direction for motor 1 on motorshield. This motor moves the board in fase 1.
EmilyJCZ 5:0597358d0016 33 PwmOut motor2speed(D6); // Speed for motor 1 on motorshield. This motor moves the board in fase 1.
Wallie117 1:0e1d91965b8e 34
EmilyJCZ 5:0597358d0016 35 //**************************** FUNCTIONS ***************************************************
EmilyJCZ 5:0597358d0016 36 //HIDScope scope(2); // HIDScope declared with 2 scopes.
EmilyJCZ 5:0597358d0016 37 MODSERIAL pc(USBTX, USBRX); // Function for Serial communication with the Microcontroller to the pc.
Wallie117 0:6616d722fed3 38
EmilyJCZ 5:0597358d0016 39 //*********************************************** GLOBAL VARIABLES DECLARATION ***********************************
EmilyJCZ 5:0597358d0016 40 const int led_on = 0; // This constant turns the led on.
EmilyJCZ 5:0597358d0016 41 const int led_off = 1; // This constant turns the led off.
EmilyJCZ 5:0597358d0016 42 int games_played1 = 0; // Counts number of games played.
EmilyJCZ 5:0597358d0016 43 int games_played = -1; // Shows real number of games played. There is a -1 because the game is first reset before the first throw.
EmilyJCZ 5:0597358d0016 44 float dt = 0.01; // Time staps
Wallie117 1:0e1d91965b8e 45
EmilyJCZ 5:0597358d0016 46 //**************************** VARIABLES FOR MOTOR CONTROL *********************************
EmilyJCZ 5:0597358d0016 47 const float cw = 1; // Motor1 moves counter clock wise and Motor2 moves clock wise.
EmilyJCZ 5:0597358d0016 48 const float ccw = 0; // Motor1 moves clock wise and Motor2 moves counter clock wise.
EmilyJCZ 5:0597358d0016 49 bool flag_s = false; // Var flag_s sensor ticker
EmilyJCZ 5:0597358d0016 50 const int relax = 0; // The motor speed is zero.
Wallie117 0:6616d722fed3 51
EmilyJCZ 5:0597358d0016 52 //**************************** VARIABLES FOR CONTROL 1 *************************************
EmilyJCZ 5:0597358d0016 53 int Fs = 512; // Sampling frequency.
EmilyJCZ 5:0597358d0016 54 int calibration_measurements = 0; // Integer counts the number of calibrations done. It starts at 0.
EmilyJCZ 5:0597358d0016 55 //Filter coefficients. a1 is normalized to 1.
EmilyJCZ 5:0597358d0016 56 const double low_b1 = /*0.0055427172102806843;*/1.480219865318266e-04;
EmilyJCZ 5:0597358d0016 57 const double low_b2 = /*0.011085434420561369;*/2.960439730636533e-04;
EmilyJCZ 5:0597358d0016 58 const double low_b3 = /*0.0055427172102806843; */1.480219865318266e-04;
EmilyJCZ 5:0597358d0016 59 const double low_a2 = /*-1.778631777824585; */-1.965293372622690e+00;
EmilyJCZ 5:0597358d0016 60 const double low_a3 = /*0.80080264666570777; */9.658854605688177e-01;
EmilyJCZ 5:0597358d0016 61 const double high_b1 = /*0.63894552515902237;*/8.047897937631126e-01;
EmilyJCZ 5:0597358d0016 62 const double high_b2 = /*-1.2778910503180447; */-1.609579587526225e+00;
EmilyJCZ 5:0597358d0016 63 const double high_b3 = /*0.63894552515902237;*/8.047897937631126e-01;
EmilyJCZ 5:0597358d0016 64 const double high_a2 = /*-1.1429805025399009;*/-1.571102440190402e+00;
EmilyJCZ 5:0597358d0016 65 const double high_a3 = /*0.41280159809618855;*/6.480567348620491e-01;
EmilyJCZ 5:0597358d0016 66 // Declaring the input and output variables.
EmilyJCZ 5:0597358d0016 67 double u1; // Input from EMG 1. The left biceps.
EmilyJCZ 5:0597358d0016 68 double y1; // Output from the filters from u1.
EmilyJCZ 5:0597358d0016 69 double u2; // Input from EMG 2. The right biceps.
EmilyJCZ 5:0597358d0016 70 double y2; // Output from the filters from u2.
Wallie117 0:6616d722fed3 71
EmilyJCZ 5:0597358d0016 72 double cali_fact1 = 0.9; // Calibration factor to normalize filter output to a scale of 0 - 1. For signal y1.
EmilyJCZ 5:0597358d0016 73 double cali_fact2 = 0.9; // Calibration factor to normalize filter output to a scale of 0 - 1. For signal y2.
EmilyJCZ 5:0597358d0016 74 double cali_max1 = 0; // Declares max y1.
EmilyJCZ 5:0597358d0016 75 double cali_max2 = 0; // Declares max y2.
EmilyJCZ 5:0597358d0016 76 double cali_array1[2560] = {}; // Array to store values in for the 5 seconds calibartion for y1.
EmilyJCZ 5:0597358d0016 77 double cali_array2[2560] = {}; // Array to store values in for the 5 seconds calibartion for y2.
EmilyJCZ 5:0597358d0016 78 volatile bool sample_go; // Ticker EMG function.
EmilyJCZ 5:0597358d0016 79 bool flag_calibration = true; // Flag to start calibration.
Wallie117 0:6616d722fed3 80
EmilyJCZ 5:0597358d0016 81 //**************************** VARIABLES FOR FASE SWITCH ***********************************
EmilyJCZ 5:0597358d0016 82 int fase = 3; // The fase is used in a switch to switch between the fases. It starts at the reset fase.
EmilyJCZ 5:0597358d0016 83 int j = 1; // Starting up a new part of the game.
EmilyJCZ 5:0597358d0016 84 int N = 200; // Stop for j.
EmilyJCZ 5:0597358d0016 85 bool fase_switch_wait = true; // Timer wait to switch between different fases.
EmilyJCZ 5:0597358d0016 86
EmilyJCZ 5:0597358d0016 87 //**************************** VARIABLES FOR CONTROL 2 *************************************
EmilyJCZ 5:0597358d0016 88 const float contract = 0.5; // The minimum value for y1 and y2 for which the motor moves.
EmilyJCZ 5:0597358d0016 89 const float fasecontract = 0.7; // The value y1 and y2 must be for the fase change.
EmilyJCZ 5:0597358d0016 90 const float maxleft = -200; // With this angle the motor should stop moving.
EmilyJCZ 5:0597358d0016 91 const float maxright = 200; // With this angle the motor should stop moving.
EmilyJCZ 5:0597358d0016 92 const float speed_plate_1 = 0.1; // The speed of the plate in control 2.
EmilyJCZ 5:0597358d0016 93 bool flag_left = true; // This flag determines if the signals from the left biceps should be measured. This is signal y1.
EmilyJCZ 5:0597358d0016 94 bool flag_right = true; // This flag determines if the signals from the right biceps should be measured. This is signal y2.
EmilyJCZ 5:0597358d0016 95 float pos_board = 0; // The begin position of the board. It begins at zero. Reads Encoder2 in degrees. Formula is applied in SensorTicker.
EmilyJCZ 5:0597358d0016 96 int pos_board1 = 0; //
EmilyJCZ 5:0597358d0016 97 float Encoderread2 = 0; // Reads travelled distance from Motor2. Reads pulses.
Wallie117 0:6616d722fed3 98
EmilyJCZ 5:0597358d0016 99 //**************************** VARIABLES FOR CONTROL 3 *************************************
EmilyJCZ 5:0597358d0016 100 const float minimum_contract = 0.4; // The minimum value for y2 for whicht the motor moves.
EmilyJCZ 5:0597358d0016 101 const float medium_contract = 0.5; // Value for different speeds of the motor.
EmilyJCZ 5:0597358d0016 102 const float maximum_leftbiceps = 0.7; // Value for y1 for which the magnet turns off.
EmilyJCZ 5:0597358d0016 103 const float on = 1.0; // This value turns the magnet on.
EmilyJCZ 5:0597358d0016 104 const float off = 0.0; // This value turns the magnet off.
EmilyJCZ 5:0597358d0016 105 const float minimum_throw_angle = 20; // The minimum angle the arm has to be in to be able to turn the magnet off.
EmilyJCZ 5:0597358d0016 106 const float maximum_throw_angle = 110; // The maximum angle for the arm to turn the magnet off.
EmilyJCZ 5:0597358d0016 107 float pos_arm = 0; // The begin position of the arm. It begins at zero. Reads Encoder1 in degrees. Formula is applied in SensorTicker.
EmilyJCZ 5:0597358d0016 108 int pos_arm1 = 0; // This makes from the positon of the arm degrees within a cirkel.
EmilyJCZ 5:0597358d0016 109 float pos_arm2 = 0; // This makes from the positon of the arm degrees within a cirkel.
EmilyJCZ 5:0597358d0016 110 float previous_pos_arm = 0; // Needed to calculate the v_arm.
EmilyJCZ 5:0597358d0016 111 float v_arm = 0; // The speed of the arm.
EmilyJCZ 5:0597358d0016 112 float v_arm_com = 0; // The compensated speed of the arm.
EmilyJCZ 5:0597358d0016 113 float speed_control_arm = 0.000; //
EmilyJCZ 5:0597358d0016 114 float Encoderread1 = 0; // Reads travelled distance from Motor1.
EmilyJCZ 5:0597358d0016 115 int switch_rounds = 2; // Value of a switch to calculate the number of rounds made.
EmilyJCZ 5:0597358d0016 116 int rounds = 0; // Number of rounds made by the arm.
EmilyJCZ 5:0597358d0016 117 float pos_armrounds_max = 3; // Max rounds the arm can make.
EmilyJCZ 5:0597358d0016 118 bool problem1 = false; //
EmilyJCZ 5:0597358d0016 119 bool problem2 = false; //
EmilyJCZ 5:0597358d0016 120 bool flag_v_arm = false; //
EmilyJCZ 5:0597358d0016 121 float problem_velocity = 0; //
Wallie117 0:6616d722fed3 122
EmilyJCZ 5:0597358d0016 123 //**************************** VARIABLES FOR CONTROL 4 *************************************
EmilyJCZ 5:0597358d0016 124 float reset_position = 0; // The reset position of the arm.
EmilyJCZ 5:0597358d0016 125 int reset_arm = 0; // The reset position of the arm (?).
EmilyJCZ 5:0597358d0016 126 int reset_board = 0; // The reset position of the board.
EmilyJCZ 5:0597358d0016 127 float speedcompensation; // Speed of Motor2 during reset.
EmilyJCZ 5:0597358d0016 128 float speedcompensation2; // Speed of Motor1 during reset.
EmilyJCZ 5:0597358d0016 129 int t = 5; // Integer for count down to new game.
EmilyJCZ 5:0597358d0016 130 int switch_reset = 1; // Value of a switch for the different parts of the reset.
EmilyJCZ 5:0597358d0016 131 bool board = false; //
Wallie117 0:6616d722fed3 132
EmilyJCZ 5:0597358d0016 133 // **************************************** Tickers ****************************************
EmilyJCZ 5:0597358d0016 134 /* Tickers count constantly. The formulas attacht to the ticker count with them. */
EmilyJCZ 5:0597358d0016 135 Ticker Sensor_control; // This ticker counts for the position of the motors and the speed of the arm.
EmilyJCZ 5:0597358d0016 136 Ticker EMG_Control; // This ticker counts for the filtering of the EMG signal
Wallie117 0:6616d722fed3 137
Wallie117 0:6616d722fed3 138 //=============================================================================================== SUB LOOPS ==================================================================================================================
Wallie117 0:6616d722fed3 139 //**************************** CONTROL 1-EMG CALIBRATION ***********************************
EmilyJCZ 5:0597358d0016 140 biquadFilter highpass1(high_a2, high_a3, high_b1, high_b2, high_b3); // Different objects for different inputs, otherwise the v1 and v2 variables get fucked up
Wallie117 0:6616d722fed3 141 biquadFilter highpass2(high_a2, high_a3, high_b1, high_b2, high_b3);
Wallie117 0:6616d722fed3 142 biquadFilter lowpass1(low_a2, low_a3, low_b1, low_b2, low_b3);
Wallie117 0:6616d722fed3 143 biquadFilter lowpass2(low_a2, low_a3, low_b1, low_b2, low_b3);
Wallie117 0:6616d722fed3 144
Wallie117 1:0e1d91965b8e 145 void hoog_laag_filter()
Wallie117 0:6616d722fed3 146 {
Wallie117 1:0e1d91965b8e 147 u1 = EMG1;
Wallie117 0:6616d722fed3 148 u2 = EMG2;
Wallie117 1:0e1d91965b8e 149 y1 = highpass1.step(u1);
EmilyJCZ 5:0597358d0016 150 y2 = highpass2.step(u2); // filter order is: high-pass --> rectify --> low-pass
Wallie117 1:0e1d91965b8e 151 y1 = fabs(y1);
Wallie117 1:0e1d91965b8e 152 y2 = fabs(y2);
Wallie117 0:6616d722fed3 153 y1 = lowpass1.step(y1)*cali_fact1;
EmilyJCZ 5:0597358d0016 154 y2 = lowpass2.step(y2)*cali_fact2; // roughly normalize to a scale of 0 - 1, where 0 is minimum and 1 is roughly the maximum output.
Wallie117 0:6616d722fed3 155 }
Wallie117 1:0e1d91965b8e 156
EmilyJCZ 5:0597358d0016 157 //**************************** TICKER LOOPS ************************************************
Wallie117 0:6616d722fed3 158 void SENSOR_LOOP()
Wallie117 0:6616d722fed3 159 {
EmilyJCZ 3:f9a1df2271d2 160 Encoderread1 = wheel1.getPulses();
EmilyJCZ 5:0597358d0016 161 pos_arm = (Encoderread1/((64.0*131.0)/360.0)); // Omrekenen naar graden van arm
EmilyJCZ 3:f9a1df2271d2 162 pos_arm1 = pos_arm;
Wallie117 4:f9f75c913d7d 163
EmilyJCZ 5:0597358d0016 164 previous_pos_arm = pos_arm;
Wallie117 4:f9f75c913d7d 165 v_arm = (pos_arm - previous_pos_arm)/dt;
EmilyJCZ 3:f9a1df2271d2 166
EmilyJCZ 3:f9a1df2271d2 167 Encoderread2 = wheel2.getPulses();
EmilyJCZ 5:0597358d0016 168 pos_board = (Encoderread2/((64.0*131.0)/360.0)); // Omrekenen naar graden van board
EmilyJCZ 3:f9a1df2271d2 169 pos_board1 = pos_board;
EmilyJCZ 3:f9a1df2271d2 170
Wallie117 0:6616d722fed3 171 flag_s = true;
Wallie117 0:6616d722fed3 172 }
Wallie117 0:6616d722fed3 173
EmilyJCZ 5:0597358d0016 174 void EMG_LOOP() // ticker function, set flag to true every sample interval
Wallie117 1:0e1d91965b8e 175 {
EmilyJCZ 3:f9a1df2271d2 176 if(flag_calibration == false)
EmilyJCZ 3:f9a1df2271d2 177 {
EmilyJCZ 3:f9a1df2271d2 178 hoog_laag_filter();
EmilyJCZ 3:f9a1df2271d2 179 sample_go = 0;
EmilyJCZ 3:f9a1df2271d2 180 sample_go = 1;
EmilyJCZ 3:f9a1df2271d2 181 }
Wallie117 0:6616d722fed3 182 }
Wallie117 0:6616d722fed3 183
Wallie117 0:6616d722fed3 184 //================================================================================================== HEAD LOOP ================================================================================================================
Wallie117 1:0e1d91965b8e 185 int main()
Wallie117 0:6616d722fed3 186 {
Wallie117 0:6616d722fed3 187 pc.baud(115200);
Wallie117 0:6616d722fed3 188 Sensor_control.attach(&SENSOR_LOOP, 0.01); // TICKER FUNCTION
EmilyJCZ 5:0597358d0016 189 EMG_Control.attach(&EMG_LOOP, (float)1/Fs);
Wallie117 1:0e1d91965b8e 190
EmilyJCZ 5:0597358d0016 191 led_green.write(0);
EmilyJCZ 5:0597358d0016 192 led_yellow.write(0);
EmilyJCZ 5:0597358d0016 193 led_red.write(0);
Wallie117 1:0e1d91965b8e 194
Wallie117 0:6616d722fed3 195 pc.printf("===============================================================\n");
Wallie117 0:6616d722fed3 196 pc.printf(" \t\t\t Ball-E\n");
Wallie117 0:6616d722fed3 197 pc.printf("In the module Biorobotics on the University of Twente is this script created\n");
Wallie117 0:6616d722fed3 198 pc.printf("Autors:\tE. Velu, L. Verhoeven, R. v/d Wal, T. v/d Wal, E. Zoetbrood\n\n");
Wallie117 0:6616d722fed3 199 wait(3);
Wallie117 0:6616d722fed3 200 pc.printf("The script will begin with a short calibration\n\n");
Wallie117 0:6616d722fed3 201 wait(2.5);
Wallie117 0:6616d722fed3 202 pc.printf("===============================================================\n");
EmilyJCZ 3:f9a1df2271d2 203
Wallie117 0:6616d722fed3 204 //************************* CONTROL 1-EMG CALIBRATION ****************************
EmilyJCZ 3:f9a1df2271d2 205 while(1)
EmilyJCZ 3:f9a1df2271d2 206 {
EmilyJCZ 3:f9a1df2271d2 207 if(sample_go)
EmilyJCZ 3:f9a1df2271d2 208 {
Wallie117 0:6616d722fed3 209 sample_go = 0;
Wallie117 1:0e1d91965b8e 210 }
Wallie117 1:0e1d91965b8e 211
EmilyJCZ 3:f9a1df2271d2 212 if (flag_calibration) // function to calibrate the emg signals from the user. It takes 5 seconds of measurements of maximum output, then takes the max and normalizes to that.
EmilyJCZ 3:f9a1df2271d2 213 {
EmilyJCZ 5:0597358d0016 214 calibration_measurements ++;
Wallie117 1:0e1d91965b8e 215 pc.printf(" \n\n EMG Signal starting up Calibration measurement........... \n");
EmilyJCZ 3:f9a1df2271d2 216
Wallie117 1:0e1d91965b8e 217 wait(2);
EmilyJCZ 5:0597358d0016 218 led_red.write(0);
Wallie117 1:0e1d91965b8e 219 wait(0.2);
EmilyJCZ 5:0597358d0016 220 led_red.write(1); //Toggles red calibration LED on
Wallie117 1:0e1d91965b8e 221 wait(0.2);
EmilyJCZ 5:0597358d0016 222 led_red.write(0);
Wallie117 1:0e1d91965b8e 223 wait(0.2);
EmilyJCZ 5:0597358d0016 224 led_red.write(1);
Wallie117 1:0e1d91965b8e 225 wait(0.2);
EmilyJCZ 5:0597358d0016 226 led_red.write(0);
Wallie117 1:0e1d91965b8e 227 wait(0.2);
EmilyJCZ 5:0597358d0016 228 led_red.write(1);
Wallie117 1:0e1d91965b8e 229 wait(1);
EmilyJCZ 3:f9a1df2271d2 230
Wallie117 1:0e1d91965b8e 231 pc.printf("\t.....Calibrating Signal of EMG 1 and 2 .......\n");
EmilyJCZ 5:0597358d0016 232 led_red.write(0);
EmilyJCZ 5:0597358d0016 233 led_yellow.write(1);
Wallie117 1:0e1d91965b8e 234 wait(0.5);
Wallie117 1:0e1d91965b8e 235 pc.printf("\t......contract muscles..... \n");
Wallie117 1:0e1d91965b8e 236
EmilyJCZ 3:f9a1df2271d2 237 for(int cali_index1 = 0; cali_index1 < 2560; cali_index1++) // Records 5 seconds of y1
EmilyJCZ 3:f9a1df2271d2 238 {
Wallie117 1:0e1d91965b8e 239 hoog_laag_filter();
Wallie117 1:0e1d91965b8e 240 cali_array1[cali_index1] = y1;
Wallie117 1:0e1d91965b8e 241 wait((float)1/Fs);
Wallie117 1:0e1d91965b8e 242 }
EmilyJCZ 3:f9a1df2271d2 243 for(int cali_index2 = 0; cali_index2 < 2560; cali_index2++) // Records 5 seconds of y2
EmilyJCZ 3:f9a1df2271d2 244 {
Wallie117 1:0e1d91965b8e 245 hoog_laag_filter();
Wallie117 1:0e1d91965b8e 246 cali_array2[cali_index2] = y2;
Wallie117 1:0e1d91965b8e 247 wait((float)1/Fs);
Wallie117 1:0e1d91965b8e 248 }
EmilyJCZ 3:f9a1df2271d2 249 for(int cali_index3 = 0; cali_index3 < 2560; cali_index3++) // Scales y1
EmilyJCZ 3:f9a1df2271d2 250 {
EmilyJCZ 3:f9a1df2271d2 251 if(cali_array1[cali_index3] > cali_max1)
EmilyJCZ 3:f9a1df2271d2 252 {
Wallie117 1:0e1d91965b8e 253 cali_max1 = cali_array1[cali_index3];
Wallie117 0:6616d722fed3 254 }
Wallie117 1:0e1d91965b8e 255 }
EmilyJCZ 3:f9a1df2271d2 256 for(int cali_index4 = 0; cali_index4 < 2560; cali_index4++) // Scales y2
EmilyJCZ 3:f9a1df2271d2 257 {
Wallie117 1:0e1d91965b8e 258 if(cali_array2[cali_index4] > cali_max2) {
Wallie117 1:0e1d91965b8e 259 cali_max2 = cali_array2[cali_index4];
Wallie117 0:6616d722fed3 260 }
Wallie117 1:0e1d91965b8e 261 }
Wallie117 1:0e1d91965b8e 262 cali_fact1 = (double)1/cali_max1; // Calibration factor for y1
Wallie117 1:0e1d91965b8e 263 cali_fact2 = (double)1/cali_max2; // Calibration factor for y2
Wallie117 1:0e1d91965b8e 264
Wallie117 1:0e1d91965b8e 265 // Toggles green sampling LED off
EmilyJCZ 5:0597358d0016 266 led_yellow.write(0);
Wallie117 1:0e1d91965b8e 267 pc.printf(" \t....... Calibration has been completed!\n");
Wallie117 1:0e1d91965b8e 268 wait(0.2);
EmilyJCZ 5:0597358d0016 269 led_green.write(led_off);
Wallie117 1:0e1d91965b8e 270 wait(0.2);
EmilyJCZ 5:0597358d0016 271 led_green.write(led_on);
Wallie117 1:0e1d91965b8e 272 wait(0.2);
EmilyJCZ 5:0597358d0016 273 led_green.write(led_off);
Wallie117 1:0e1d91965b8e 274 wait(0.2);
EmilyJCZ 5:0597358d0016 275 led_green.write(led_on);
Wallie117 1:0e1d91965b8e 276 wait(4);
Wallie117 1:0e1d91965b8e 277 pc.printf("Beginning with Ball-E board settings\n");
EmilyJCZ 5:0597358d0016 278 led_green.write(led_off);
Wallie117 1:0e1d91965b8e 279 wait(2);
Wallie117 1:0e1d91965b8e 280 y1 = 0;
Wallie117 1:0e1d91965b8e 281 y2 = 0;
Wallie117 1:0e1d91965b8e 282
Wallie117 1:0e1d91965b8e 283 j = 1; // Wachten van fase switch initialiseren
Wallie117 1:0e1d91965b8e 284 fase_switch_wait = true;
EmilyJCZ 3:f9a1df2271d2 285 flag_calibration = false;
Wallie117 1:0e1d91965b8e 286 }
Wallie117 1:0e1d91965b8e 287
Wallie117 1:0e1d91965b8e 288
Wallie117 1:0e1d91965b8e 289 //************************* CONTROL MOTOR ****************************************
EmilyJCZ 3:f9a1df2271d2 290 if (flag_s)
EmilyJCZ 3:f9a1df2271d2 291 {
Wallie117 1:0e1d91965b8e 292 flag_calibration = false;
Wallie117 1:0e1d91965b8e 293 }
Wallie117 1:0e1d91965b8e 294 //************************* FASE SWITCH ******************************************
Wallie117 1:0e1d91965b8e 295 //******************** Fase determination *************
EmilyJCZ 3:f9a1df2271d2 296 if (fase_switch_wait == true)
EmilyJCZ 3:f9a1df2271d2 297 {
Wallie117 1:0e1d91965b8e 298 j++;
Wallie117 1:0e1d91965b8e 299 wait(0.01); // Problemen met EMG metingen die te hoog zijn op het begin van script na calibratie. vandaar ff wachten en de sample loop een paar keer doorlopen.
Wallie117 1:0e1d91965b8e 300 pc.printf("waarde j = %i \n",j);
EmilyJCZ 5:0597358d0016 301 led_red.write(0);
EmilyJCZ 5:0597358d0016 302 led_green.write(1);
EmilyJCZ 5:0597358d0016 303 led_yellow.write(0);
Wallie117 1:0e1d91965b8e 304 }
Wallie117 1:0e1d91965b8e 305
EmilyJCZ 3:f9a1df2271d2 306 if( j > N)
EmilyJCZ 3:f9a1df2271d2 307 {
Wallie117 1:0e1d91965b8e 308 fase_switch_wait = false;
EmilyJCZ 3:f9a1df2271d2 309 switch(fase)
EmilyJCZ 3:f9a1df2271d2 310 {
Wallie117 1:0e1d91965b8e 311 //******************* Fase 1 **************************
Wallie117 1:0e1d91965b8e 312 case(1):
EmilyJCZ 5:0597358d0016 313 led_red.write(1);
EmilyJCZ 5:0597358d0016 314 led_green.write(0);
EmilyJCZ 5:0597358d0016 315 led_yellow.write(0);
EmilyJCZ 5:0597358d0016 316 rounds = 0;
EmilyJCZ 3:f9a1df2271d2 317 if (y1> contract)
EmilyJCZ 3:f9a1df2271d2 318 {
Wallie117 1:0e1d91965b8e 319 flag_right = false;
Wallie117 1:0e1d91965b8e 320 flag_left = true;
Wallie117 0:6616d722fed3 321 }
Wallie117 1:0e1d91965b8e 322
EmilyJCZ 3:f9a1df2271d2 323 if (y2 > contract)
EmilyJCZ 3:f9a1df2271d2 324 {
Wallie117 1:0e1d91965b8e 325 flag_right = true;
Wallie117 1:0e1d91965b8e 326 flag_left = false;
Wallie117 0:6616d722fed3 327 }
Wallie117 1:0e1d91965b8e 328
EmilyJCZ 3:f9a1df2271d2 329 if (pos_board < maxleft)
EmilyJCZ 3:f9a1df2271d2 330 {
Wallie117 1:0e1d91965b8e 331 flag_left = false;
Wallie117 1:0e1d91965b8e 332 motor2speed.write(relax);
Wallie117 1:0e1d91965b8e 333 }
Wallie117 1:0e1d91965b8e 334
EmilyJCZ 3:f9a1df2271d2 335 if (pos_board > maxright)
EmilyJCZ 3:f9a1df2271d2 336 {
Wallie117 1:0e1d91965b8e 337 flag_right = false;
Wallie117 1:0e1d91965b8e 338 motor2speed.write(relax);
Wallie117 0:6616d722fed3 339 }
Wallie117 1:0e1d91965b8e 340
EmilyJCZ 3:f9a1df2271d2 341 if (flag_left == true)
EmilyJCZ 3:f9a1df2271d2 342 {
EmilyJCZ 3:f9a1df2271d2 343 if (y1> contract)
EmilyJCZ 3:f9a1df2271d2 344 {
Wallie117 1:0e1d91965b8e 345 motor2direction.write(ccw);
Wallie117 1:0e1d91965b8e 346 motor2speed.write(speed_plate_1);
EmilyJCZ 3:f9a1df2271d2 347 }
EmilyJCZ 3:f9a1df2271d2 348 else
EmilyJCZ 3:f9a1df2271d2 349 {
Wallie117 1:0e1d91965b8e 350 motor2speed.write(relax);
Wallie117 1:0e1d91965b8e 351 }
Wallie117 1:0e1d91965b8e 352 }
Wallie117 1:0e1d91965b8e 353
EmilyJCZ 3:f9a1df2271d2 354 if (flag_right == true)
EmilyJCZ 3:f9a1df2271d2 355 {
EmilyJCZ 3:f9a1df2271d2 356 if (y2 > contract)
EmilyJCZ 3:f9a1df2271d2 357 {
Wallie117 1:0e1d91965b8e 358 motor2direction.write(cw);
Wallie117 1:0e1d91965b8e 359 motor2speed.write(speed_plate_1);
EmilyJCZ 3:f9a1df2271d2 360 }
EmilyJCZ 3:f9a1df2271d2 361 else
EmilyJCZ 3:f9a1df2271d2 362 {
Wallie117 1:0e1d91965b8e 363 motor2speed.write(relax);
Wallie117 1:0e1d91965b8e 364 }
Wallie117 0:6616d722fed3 365 }
Wallie117 1:0e1d91965b8e 366 pc.printf("Boardposition \t %f EMG1 en EMG2 signaal = %f \t %f\n", pos_board, y1, y2);
EmilyJCZ 3:f9a1df2271d2 367 if (y1> fasecontract && y2 > fasecontract)
EmilyJCZ 3:f9a1df2271d2 368 {
Wallie117 1:0e1d91965b8e 369 motor2speed.write(relax);
Wallie117 1:0e1d91965b8e 370 fase = 2;
Wallie117 1:0e1d91965b8e 371 fase_switch_wait = true;
EmilyJCZ 5:0597358d0016 372 led_red.write(0);
EmilyJCZ 5:0597358d0016 373 led_green.write(0);
EmilyJCZ 5:0597358d0016 374 led_yellow.write(1);
Wallie117 1:0e1d91965b8e 375 j = 0;
Wallie117 1:0e1d91965b8e 376 }
Wallie117 1:0e1d91965b8e 377 break;
Wallie117 1:0e1d91965b8e 378 //******************* Fase 2 **************************
Wallie117 1:0e1d91965b8e 379 case(2):
EmilyJCZ 5:0597358d0016 380 led_red.write(0);
EmilyJCZ 5:0597358d0016 381 led_green.write(0);
EmilyJCZ 5:0597358d0016 382 led_yellow.write(1);
Wallie117 1:0e1d91965b8e 383 motor1direction.write(cw);
EmilyJCZ 5:0597358d0016 384 pos_arm1 = (pos_arm - (rounds * 360));
EmilyJCZ 5:0597358d0016 385 pos_arm2 = pos_arm1;
EmilyJCZ 5:0597358d0016 386
EmilyJCZ 5:0597358d0016 387 switch(switch_rounds)
EmilyJCZ 3:f9a1df2271d2 388 {
Wallie117 0:6616d722fed3 389 case(1):
EmilyJCZ 5:0597358d0016 390 rounds ++;
EmilyJCZ 5:0597358d0016 391 switch_rounds = 2;
Wallie117 1:0e1d91965b8e 392 break;
Wallie117 0:6616d722fed3 393 case(2):
EmilyJCZ 3:f9a1df2271d2 394 if(pos_arm1>360 & 368<pos_arm1)
EmilyJCZ 3:f9a1df2271d2 395 {
EmilyJCZ 5:0597358d0016 396 switch_rounds = 1;
Wallie117 1:0e1d91965b8e 397 }
Wallie117 1:0e1d91965b8e 398 break;
Wallie117 0:6616d722fed3 399 }
Wallie117 1:0e1d91965b8e 400
EmilyJCZ 3:f9a1df2271d2 401 if (y2 > minimum_contract & y2 < medium_contract)
EmilyJCZ 3:f9a1df2271d2 402 {
Wallie117 4:f9f75c913d7d 403 speed_control_arm = ((v_arm/304) + 0.15*(1 -(v_arm/304)));
Wallie117 4:f9f75c913d7d 404 motor1speed.write(speed_control_arm);
Wallie117 1:0e1d91965b8e 405 }
EmilyJCZ 3:f9a1df2271d2 406 if (y2 > medium_contract) // Hoger dan drempelwaarde = Actief
EmilyJCZ 3:f9a1df2271d2 407 {
EmilyJCZ 5:0597358d0016 408 speed_control_arm = ((v_arm/304) + 0.15*(1 -(v_arm/304)));
EmilyJCZ 5:0597358d0016 409 motor1speed.write(speed_control_arm);
Wallie117 1:0e1d91965b8e 410 }
EmilyJCZ 3:f9a1df2271d2 411 if (y2 < minimum_contract) // Lager dan drempel = Rust
EmilyJCZ 3:f9a1df2271d2 412 {
Wallie117 1:0e1d91965b8e 413 motor1speed.write(relax);
Wallie117 0:6616d722fed3 414 }
Wallie117 1:0e1d91965b8e 415
EmilyJCZ 5:0597358d0016 416 if(rounds == pos_armrounds_max) // max aantal draaing gemaakt!!!!!!
EmilyJCZ 3:f9a1df2271d2 417 {
Wallie117 1:0e1d91965b8e 418 problem1 = true;
Wallie117 1:0e1d91965b8e 419 problem2 = true;
Wallie117 1:0e1d91965b8e 420 motor1speed.write(relax);
EmilyJCZ 3:f9a1df2271d2 421
EmilyJCZ 3:f9a1df2271d2 422 while (problem1)
EmilyJCZ 3:f9a1df2271d2 423 {
Wallie117 1:0e1d91965b8e 424 j++;
Wallie117 1:0e1d91965b8e 425 wait(0.01); // Problemen met EMG metingen die te hoog zijn op het begin van script na calibratie. vandaar ff wachten en de sample loop een paar keer doorlopen.
Wallie117 1:0e1d91965b8e 426 Encoderread1 = wheel1.getPulses();
Wallie117 1:0e1d91965b8e 427 pos_arm = (Encoderread1/((64.0*131.0)/360.0)); // Omrekenen naar graden van arm
Wallie117 1:0e1d91965b8e 428
EmilyJCZ 3:f9a1df2271d2 429 if( j > N)
EmilyJCZ 3:f9a1df2271d2 430 {
EmilyJCZ 3:f9a1df2271d2 431 problem1 = false;
Wallie117 1:0e1d91965b8e 432 }
EmilyJCZ 3:f9a1df2271d2 433 }
EmilyJCZ 3:f9a1df2271d2 434
Wallie117 1:0e1d91965b8e 435 wait(0.1);
EmilyJCZ 5:0597358d0016 436 led_red.write(0);
Wallie117 1:0e1d91965b8e 437 wait(0.1);
EmilyJCZ 5:0597358d0016 438 led_red.write(1);
Wallie117 1:0e1d91965b8e 439 wait(0.1);
EmilyJCZ 5:0597358d0016 440 led_red.write(0);
Wallie117 1:0e1d91965b8e 441 wait(0.1);
EmilyJCZ 5:0597358d0016 442 led_red.write(1);
Wallie117 1:0e1d91965b8e 443 wait(0.1);
EmilyJCZ 5:0597358d0016 444 led_red.write(0);
Wallie117 1:0e1d91965b8e 445 wait(0.1);
EmilyJCZ 5:0597358d0016 446 led_red.write(1);
Wallie117 2:de3bb38dae4e 447 wait(1.5);
Wallie117 1:0e1d91965b8e 448
EmilyJCZ 3:f9a1df2271d2 449 while(problem2)
EmilyJCZ 3:f9a1df2271d2 450 {
Wallie117 2:de3bb38dae4e 451 motor1direction.write(ccw);
Wallie117 4:f9f75c913d7d 452 if(pos_arm < 170){
Wallie117 4:f9f75c913d7d 453 if(v_arm > 200){
Wallie117 4:f9f75c913d7d 454 flag_v_arm = true;
Wallie117 4:f9f75c913d7d 455 }
Wallie117 4:f9f75c913d7d 456 }
Wallie117 4:f9f75c913d7d 457 if(flag_v_arm){
Wallie117 4:f9f75c913d7d 458 v_arm_com = v_arm;
Wallie117 4:f9f75c913d7d 459 }
EmilyJCZ 5:0597358d0016 460 speed_control_arm = (0.4*((pos_arm2 - reset_arm)/500.0) + (0.05) - (v_arm_com/304)*0.3);
Wallie117 4:f9f75c913d7d 461 motor1speed.write(speed_control_arm);
EmilyJCZ 3:f9a1df2271d2 462
EmilyJCZ 3:f9a1df2271d2 463 if (pos_arm < 10)
EmilyJCZ 3:f9a1df2271d2 464 {
Wallie117 4:f9f75c913d7d 465 flag_v_arm = false;
Wallie117 1:0e1d91965b8e 466 problem2 = false;
Wallie117 2:de3bb38dae4e 467 motor1speed.write(0);
EmilyJCZ 5:0597358d0016 468 rounds = 0;
Wallie117 1:0e1d91965b8e 469 wait(1);
Wallie117 1:0e1d91965b8e 470 }
Wallie117 1:0e1d91965b8e 471 }
Wallie117 0:6616d722fed3 472 }
EmilyJCZ 3:f9a1df2271d2 473 if (pos_arm1 > minimum_throw_angle & pos_arm1 < maximum_throw_angle)
EmilyJCZ 3:f9a1df2271d2 474 {
EmilyJCZ 3:f9a1df2271d2 475 if (y1> maximum_leftbiceps)
EmilyJCZ 3:f9a1df2271d2 476 {
Wallie117 0:6616d722fed3 477 magnet.write(off);
Wallie117 0:6616d722fed3 478 motor1speed.write(relax);
Wallie117 0:6616d722fed3 479 fase = 3;
Wallie117 0:6616d722fed3 480 pc.printf("Van fase 2 naar fase 3\n");
EmilyJCZ 3:f9a1df2271d2 481
Wallie117 0:6616d722fed3 482 wait(2);
Wallie117 0:6616d722fed3 483 j = 0;
Wallie117 1:0e1d91965b8e 484 fase_switch_wait = true;
Wallie117 0:6616d722fed3 485 }
Wallie117 1:0e1d91965b8e 486 }
EmilyJCZ 5:0597358d0016 487 pc.printf("Snelheid arm = \t %f \t EMG1 en EMG2 = %f \t %f \n", speed_control_arm, y1, y2);
Wallie117 0:6616d722fed3 488 break;
Wallie117 1:0e1d91965b8e 489 //********************************************* Fase 3 **********************************************
Wallie117 1:0e1d91965b8e 490 case(3):
EmilyJCZ 5:0597358d0016 491 led_red.write(0);
EmilyJCZ 5:0597358d0016 492 led_green.write(1);
EmilyJCZ 5:0597358d0016 493 led_yellow.write(0);
EmilyJCZ 3:f9a1df2271d2 494 switch(switch_reset)
EmilyJCZ 3:f9a1df2271d2 495 {
Wallie117 1:0e1d91965b8e 496 case(1):
EmilyJCZ 5:0597358d0016 497 if(pos_arm < reset_position) //ene kant op draaien
EmilyJCZ 3:f9a1df2271d2 498 {
Wallie117 1:0e1d91965b8e 499 motor1direction.write(cw);
EmilyJCZ 3:f9a1df2271d2 500 speedcompensation2 = 0.05; //((reset_arm - pos_arm1)/900.0 + (0.02));
Wallie117 1:0e1d91965b8e 501 motor1speed.write(speedcompensation2);
Wallie117 1:0e1d91965b8e 502 }
EmilyJCZ 5:0597358d0016 503 if(pos_arm > reset_position) //andere kant op
EmilyJCZ 3:f9a1df2271d2 504 {
EmilyJCZ 3:f9a1df2271d2 505 motor1direction.write(ccw);
EmilyJCZ 3:f9a1df2271d2 506 speedcompensation2 = 0.05;//((pos_arm1 - reset_arm)/500.0 + (0.02));
EmilyJCZ 3:f9a1df2271d2 507 motor1speed.write(speedcompensation2);
EmilyJCZ 3:f9a1df2271d2 508 }
EmilyJCZ 5:0597358d0016 509 if(pos_arm < reset_position+5 && pos_arm > reset_position-5) // Dit gaat niet goed komen, omdat het precies die waarde moet zijn
EmilyJCZ 3:f9a1df2271d2 510 {
EmilyJCZ 3:f9a1df2271d2 511 motor1speed.write(0);
EmilyJCZ 3:f9a1df2271d2 512 switch_reset = 2;
EmilyJCZ 3:f9a1df2271d2 513 }
Wallie117 1:0e1d91965b8e 514 pc.printf("Positie_arm = %f \t \t snelheid = %f \n",pos_arm, speedcompensation);
Wallie117 1:0e1d91965b8e 515 wait(0.0001);
Wallie117 1:0e1d91965b8e 516 break;
Wallie117 1:0e1d91965b8e 517
Wallie117 1:0e1d91965b8e 518 case(2):
Wallie117 1:0e1d91965b8e 519 pc.printf("\t switch magneet automatisch \n");
Wallie117 2:de3bb38dae4e 520 wait(0.2);
Wallie117 1:0e1d91965b8e 521 magnet.write(on);
Wallie117 2:de3bb38dae4e 522 wait(2);
Wallie117 1:0e1d91965b8e 523 switch_reset = 3;
Wallie117 1:0e1d91965b8e 524 break;
EmilyJCZ 3:f9a1df2271d2 525
Wallie117 1:0e1d91965b8e 526 case(3):
EmilyJCZ 3:f9a1df2271d2 527 if(pos_board < reset_board)
EmilyJCZ 3:f9a1df2271d2 528 {
Wallie117 1:0e1d91965b8e 529 motor2direction.write(cw);
Wallie117 2:de3bb38dae4e 530 speedcompensation = 0.05; //((reset_board - pos_board1)/500.0 + (0.1));
Wallie117 1:0e1d91965b8e 531 motor2speed.write(speedcompensation);
Wallie117 1:0e1d91965b8e 532 }
Wallie117 0:6616d722fed3 533
EmilyJCZ 3:f9a1df2271d2 534 if(pos_board > reset_board)
EmilyJCZ 3:f9a1df2271d2 535 {
Wallie117 1:0e1d91965b8e 536 motor2direction.write(ccw);
Wallie117 2:de3bb38dae4e 537 speedcompensation = 0.05;//((pos_board1 - reset_board)/500.0 + (0.05));
Wallie117 1:0e1d91965b8e 538 motor2speed.write(speedcompensation);
Wallie117 0:6616d722fed3 539 }
EmilyJCZ 3:f9a1df2271d2 540
EmilyJCZ 3:f9a1df2271d2 541 if(pos_board < reset_board+5 && pos_board > reset_board-5)
EmilyJCZ 3:f9a1df2271d2 542 {
Wallie117 1:0e1d91965b8e 543 motor2speed.write(0);
EmilyJCZ 5:0597358d0016 544 board = true;
Wallie117 0:6616d722fed3 545 }
EmilyJCZ 3:f9a1df2271d2 546
EmilyJCZ 5:0597358d0016 547 if(board == true)
EmilyJCZ 3:f9a1df2271d2 548 {
Wallie117 1:0e1d91965b8e 549 pc.printf("fase switch naar 1\n\n");
EmilyJCZ 5:0597358d0016 550 board = false;
Wallie117 1:0e1d91965b8e 551 wait(2);
Wallie117 1:0e1d91965b8e 552 games_played ++;
EmilyJCZ 5:0597358d0016 553 games_played1 = games_played - (3*calibration_measurements - 3);
Wallie117 1:0e1d91965b8e 554 pc.printf("Games played total count = %i and loop %i\n",games_played,games_played1);
Wallie117 1:0e1d91965b8e 555
EmilyJCZ 3:f9a1df2271d2 556 if(games_played1 == 3)
EmilyJCZ 3:f9a1df2271d2 557 {
Wallie117 1:0e1d91965b8e 558 flag_calibration = true;
EmilyJCZ 3:f9a1df2271d2 559 while(t)
EmilyJCZ 3:f9a1df2271d2 560 {
Wallie117 1:0e1d91965b8e 561 pc.printf("\tCalibratie begint over %i \n",t);
Wallie117 1:0e1d91965b8e 562 t--;
EmilyJCZ 5:0597358d0016 563 led_yellow.write(1);
Wallie117 1:0e1d91965b8e 564 wait(0.5);
EmilyJCZ 5:0597358d0016 565 led_yellow.write(0);
Wallie117 1:0e1d91965b8e 566 wait(0.5);
Wallie117 1:0e1d91965b8e 567 }
Wallie117 1:0e1d91965b8e 568 }
EmilyJCZ 3:f9a1df2271d2 569 while(t)
EmilyJCZ 3:f9a1df2271d2 570 {
Wallie117 1:0e1d91965b8e 571 pc.printf("\tNieuw spel begint over %i \n",t);
Wallie117 1:0e1d91965b8e 572 t--;
EmilyJCZ 5:0597358d0016 573 led_yellow.write(1);
Wallie117 1:0e1d91965b8e 574 wait(0.5);
EmilyJCZ 5:0597358d0016 575 led_yellow.write(0);
Wallie117 1:0e1d91965b8e 576 wait(0.5);
Wallie117 1:0e1d91965b8e 577 }
Wallie117 1:0e1d91965b8e 578
Wallie117 0:6616d722fed3 579 fase = 1; // Terug naar fase 1
Wallie117 0:6616d722fed3 580 switch_reset = 1; // De switch op orginele locatie zetten
Wallie117 0:6616d722fed3 581 t = 5;
Wallie117 1:0e1d91965b8e 582
Wallie117 1:0e1d91965b8e 583 }
Wallie117 1:0e1d91965b8e 584
Wallie117 1:0e1d91965b8e 585 pc.printf("Positie_board = %f \t \t snelheid = %f \n",pos_board, speedcompensation);
Wallie117 1:0e1d91965b8e 586 wait(0.0001);
Wallie117 1:0e1d91965b8e 587 break;
Wallie117 0:6616d722fed3 588 }
Wallie117 1:0e1d91965b8e 589 break;
Wallie117 1:0e1d91965b8e 590 //=================================================== STOP SCRIPT ============================================================
Wallie117 0:6616d722fed3 591 }
Wallie117 1:0e1d91965b8e 592 }
Wallie117 0:6616d722fed3 593 }
Wallie117 0:6616d722fed3 594 }