Biorobotics10
Script met een paar limiet toevoegingen en reset van arm als die te ver door draait.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
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Biorobotics10
Diff: main.cpp
- Revision:
- 0:6616d722fed3
- Child:
- 1:0e1d91965b8e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 19 07:07:21 2015 +0000
@@ -0,0 +1,503 @@
+//================================================================ Script: Ball-E ==================================================================
+// Author: Ewoud Velu, Lisa Verhoeven, Robert van der Wal, Thijs van der Wal, Emily Zoetbrood
+/* This is the script of a EMG measurment moving robot. The purpose of the robot is to amuse people with the disease of Ducenne.
+ The robot is designed to throw a ball in to a certain chosen pocket. In order to achieve this movement we use a ‘shoulder’ that can turn in the vertical plane
+*/
+
+//******************************************** Library DECLARATION **************************************
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+#include "HIDScope.h"
+#include "biquadFilter.h"
+#include <cmath>
+#include <stdio.h>
+
+//******************************************* FUNCTION DECLA *******************************************
+//**************** INPUTS *****************
+AnalogIn EMG1(A0); // Input EMG
+AnalogIn EMG2(A1); // Input EMG
+//AnalogIn pot(A2);
+//AnalogIn pot1(A3);
+
+QEI wheel2 (D10, D11, NC, 64,QEI::X4_ENCODING); // Function for Encoder1 on the motor1 to the Microcontroller
+QEI wheel1 (D12, D13, NC, 64,QEI::X4_ENCODING); // Function for Encoder2 on the motor2 to the Microcontroller
+
+//**************** OUTPUTS ****************
+DigitalOut red(LED_RED); // LED declared for calibration
+DigitalOut green(LED_GREEN); // LED declared for sampling
+
+DigitalOut magnet(D2);
+
+DigitalOut motor2direction(D4); // D4 en D5 zijn motor 2 (op het motorshield)
+PwmOut motor2speed(D5);
+DigitalOut motor1direction(D7); // D6 en D7 zijn motor 1 (op het motorshield)
+PwmOut motor1speed(D6);
+
+//**************** FUNCTIONS **************
+/* HIDScope scope(4); */ // HIDScope declared with 4 scopes
+MODSERIAL pc(USBTX, USBRX); // Function for Serial communication with the Microcontroller to the pc.
+
+//******************************* GLOBAL VARIABLES DECLARATION ************************************
+const int led_on = 0; // Needed for the LEDs to turn on and off
+const int led_off = 1;
+const int relax = 0;
+const int graden = 360;
+
+int games_played = -1; // -1 omdat het spel daar eerst loopt voor het spelen om alles na te checken
+int games_played1 = 0;
+bool flag_calibration = true;
+
+//********* VARIABLES FOR MOTOR CONTROL ********
+const float cw = 1; // The number if: motor1 moves clock wise motor2 moves counterclockwise
+const float ccw = 0; // The number if: motor1 moves counterclock wise motor2 moves clockwise
+bool flag_s = false; // Var flag_s sensor ticker
+bool flag_m = false; // Var flag_m motor ticker
+float ain = 0;
+
+//********* VARIABLES FOR CONTROL 1 ************
+volatile bool sample_go; // Ticker EMG function
+int Fs = 512; // Sampling frequency
+
+const double low_b1 = 1.480219865318266e-04; //Filter coefficients
+const double low_b2 = 2.960439730636533e-04;
+const double low_b3 = 1.480219865318266e-04;
+const double low_a2 = -1.965293372622690e+00; // a1 is normalized to 1
+const double low_a3 = 9.658854605688177e-01;
+const double high_b1 = 8.047897937631126e-01;
+const double high_b2 = -1.609579587526225e+00;
+const double high_b3 = 8.047897937631126e-01;
+const double high_a2 = -1.571102440190402e+00; // a1 is normalized to 1
+const double high_a3 = 6.480567348620491e-01;
+
+double u1; double y1; // Declaring the input variables
+double u2; double y2;
+
+int calibratie_metingen = 0;
+
+//********* VARIABLES FOR FASE SWITCH **********
+bool begin = true;
+int fase = 3; // To switch between different phases and begins with the reset phase
+const float fasecontract = 0.7; // The value the EMG signal must be for fase change
+float rightbiceps = y2;
+float leftbiceps = ain;
+int reset = 0;
+int button_pressed = 0;
+int j = 1;
+int N = 200;
+bool fase_switch_wait = true;
+
+//********* VARIABLES FOR CONTROL 2 ************
+const float contract = 0.2; // The minimum value for which the motor moves
+const float maxleft = -1000; // With this angle the motor should stop moving
+const float maxright = 1000; // With this angle the motor should stop moving
+const float speed_plate_1 = 0.4; // The speed of the plate in control 2
+bool flag_left = true;
+bool flag_right = true;
+float pos_board = 0; // The position of the board begins at zero
+float Encoderread2 = 0;
+
+
+//********* VARIABLES FOR CONTROL 3 ************
+const float minimum_contract = 0.2; // Certain levels for muscle activity to activate motor
+const float medium_contract = 0.5; // "Medium contract muscle"
+const float maximum_leftbiceps = 0.8; // "Maximum contract muscle"
+const float on = 1.0;
+const float off = 0.0;
+const float minimum_throw_angle = -5;
+const float maximum_throw_angle = 110;
+float pos_arm = 0;
+int pos_arm1 = 0;
+float Encoderread1 = 0;
+int switch_rondjes = 2;
+int rondjes = 0;
+
+//********* VARIABLES FOR CONTROL 4 ************
+
+float reset_positie = 0; // Belangrijk
+float reset_board = 0;
+float speedcompensation;
+float speedcompensation2;
+int t = 5; // aftellen naar nieuw spel
+int switch_reset = 1;
+bool arm = false;
+bool board1 = false;
+
+
+// **************************************** Tickers *****************************************
+Ticker Sensor_control; // Adds ticker function for the variable function : Sensors
+Ticker Motor_control;
+Ticker EMG_Control;
+
+//=============================================================================================== SUB LOOPS ==================================================================================================================
+//**************************** CONTROL 1-EMG CALIBRATION ***********************************
+
+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
+biquadFilter highpass2(high_a2, high_a3, high_b1, high_b2, high_b3);
+biquadFilter lowpass1(low_a2, low_a3, low_b1, low_b2, low_b3);
+biquadFilter lowpass2(low_a2, low_a3, low_b1, low_b2, low_b3);
+
+
+double cali_fact1 = 0.9; // calibration factor to normalize filter output to a scale of 0 - 1
+double cali_fact2 = 0.9;
+double cali_array1[2560] = {}; // array to store values in
+double cali_array2[2560] = {};
+
+void hoog_laag_filter()
+{
+ u1 = EMG1;
+ u2 = EMG2;
+ y1 = highpass1.step(u1);
+ y2 = highpass2.step(u2); // filter order is: high-pass --> rectify --> low-pass
+ y1 = fabs(y1);
+ y2 = fabs(y2);
+ y1 = lowpass1.step(y1)*cali_fact1;
+ 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.
+}
+
+
+//======================================= TICKER LOOPS ==========================================
+void SENSOR_LOOP()
+{
+ flag_s = true;
+}
+
+void MOTOR_LOOP()
+{
+ flag_m = true;
+}
+
+void samplego() { // ticker function, set flag to true every sample interval
+ sample_go = 1;
+}
+
+
+//================================================================================================== HEAD LOOP ================================================================================================================
+int main()
+{
+
+ pc.baud(115200);
+ Sensor_control.attach(&SENSOR_LOOP, 0.01); // TICKER FUNCTION
+ Motor_control.attach(&MOTOR_LOOP, 0.01);
+ EMG_Control.attach(&samplego, (float)1/Fs);
+
+ pc.printf("===============================================================\n");
+ pc.printf(" \t\t\t Ball-E\n");
+ pc.printf("In the module Biorobotics on the University of Twente is this script created\n");
+ pc.printf("Autors:\tE. Velu, L. Verhoeven, R. v/d Wal, T. v/d Wal, E. Zoetbrood\n\n");
+ wait(3);
+ pc.printf("The script will begin with a short calibration\n\n");
+ wait(2.5);
+ pc.printf("===============================================================\n");
+ //************************* CONTROL 1-EMG CALIBRATION ****************************
+ while(1)
+ {
+
+ if(sample_go)
+ {
+ red.write(led_off); // Toggles red calibration LED off
+ green.write(led_on); // Toggles green sampling LED on
+ hoog_laag_filter();
+ sample_go = 0;
+ }
+
+ 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.
+ calibratie_metingen ++;
+ green.write(led_off); // Toggles green sampling LED off
+ red.write(led_on); //Toggles red calibration LED on
+ cali_fact1 = 0.9; // calibration factor to normalize filter output to a scale of 0 - 1
+ cali_fact2 = 0.9;
+ double cali_max1 = 0; // declare max y1
+ double cali_max2 = 0; //declare max y2
+ pc.printf(" \n\n EMG Signal starting up Calibration measurement........... \n");
+ wait(2);
+ pc.printf("\t.....Calibrating Signal of EMG 1 and 2 .......\n");
+ wait(0.5);
+ pc.printf("\t......contract muscles..... \n");
+
+ for(int cali_index1 = 0; cali_index1 < 2560; cali_index1++) // Records 5 seconds of y1
+ {
+ hoog_laag_filter();
+ cali_array1[cali_index1] = y1;
+ wait((float)1/Fs);
+ }
+ for(int cali_index2 = 0; cali_index2 < 2560; cali_index2++) // Records 5 seconds of y2
+ {
+ hoog_laag_filter();
+ cali_array2[cali_index2] = y2;
+ wait((float)1/Fs);
+ }
+ for(int cali_index3 = 0; cali_index3 < 2560; cali_index3++) // Scales y1
+ {
+ if(cali_array1[cali_index3] > cali_max1)
+ {
+ cali_max1 = cali_array1[cali_index3];
+ }
+ }
+ for(int cali_index4 = 0; cali_index4 < 2560; cali_index4++) // Scales y2
+ {
+ if(cali_array2[cali_index4] > cali_max2)
+ {
+ cali_max2 = cali_array2[cali_index4];
+ }
+ }
+ cali_fact1 = (double)1/cali_max1; // Calibration factor for y1
+ cali_fact2 = (double)1/cali_max2; // Calibration factor for y2
+
+ // Toggles green sampling LED off
+ red.write(led_off);
+ green.write(led_on);
+ pc.printf(" \t....... Calibration has been completed!\n");
+ wait(0.2);
+ green.write(led_off);
+ wait(0.2);
+ green.write(led_on);
+ wait(0.2);
+ green.write(led_off);
+ wait(0.2);
+ green.write(led_on);
+ wait(4);
+ pc.printf("Beginning with Ball-E board settings\n");
+ green.write(led_off);
+ wait(2);
+ y1 = 0;
+ y2 = 0;
+
+ j = 1; // Wachten van fase switch initialiseren
+ fase_switch_wait = true;
+ }
+
+
+ //************************* CONTROL MOTOR ****************************************
+
+
+
+ if (flag_s)
+ {
+ Encoderread1 = wheel1.getPulses();
+ pos_arm = (Encoderread1/((64.0*131.0)/360.0)); // Omrekenen naar graden van arm
+
+ Encoderread2 = wheel2.getPulses();
+ pos_board = (Encoderread2/((64.0*131.0)/360.0)); // Omrekenen naar graden van board
+ flag_calibration = false;
+ }
+ //************************* FASE SWITCH ******************************************
+ //******************** Fase determination *************
+ if (fase_switch_wait == true)
+ {
+ j++;
+ 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.
+ pc.printf("waarde j = %i \n",j);
+ }
+
+ if( j > N){
+ fase_switch_wait = false;
+ switch(fase)
+ {
+
+ //******************* Fase 1 **************************
+ case(1):
+ rondjes = 0;
+ if (y1> contract)
+ {
+ flag_right = false;
+ flag_left = true;
+ }
+
+ if (y2 > contract)
+ {
+ flag_right = true;
+ flag_left = false;
+ }
+
+ if (pos_board <= maxleft)
+ {
+ flag_left = false;
+ motor2speed.write(relax);
+ }
+
+ if (pos_board >= maxright)
+ {
+ flag_right = false;
+ motor2speed.write(relax);
+ }
+
+ if (flag_left == true)
+ {
+ if (y1> contract)
+ {
+ motor2direction.write(ccw);
+ motor2speed.write(speed_plate_1);
+ }
+ else
+ {
+ motor2speed.write(relax);
+ }
+ }
+
+ if (flag_right == true)
+ {
+ if (y2 > contract)
+ {
+ motor2direction.write(cw);
+ motor2speed.write(speed_plate_1);
+ }
+ else
+ {
+ motor2speed.write(relax);
+ }
+ }
+ pc.printf("Boardposition \t %f EMG1 en EMG2 signaal = %f \t %f\n", pos_board, y1, y2);
+ if (y1> fasecontract && y2 > fasecontract)
+ {
+ motor2speed.write(relax);
+ fase = 2;
+ fase_switch_wait = true;
+ j = 0;
+ }
+ break;
+ //******************* Fase 2 **************************
+ case(2):
+ motor1direction.write(cw);
+ pos_arm1 = (pos_arm - (rondjes * 360));
+
+ switch(switch_rondjes){
+ case(1):
+ rondjes ++;
+ switch_rondjes = 2;
+ break;
+ case(2):
+ if(pos_arm1>360 & 368<pos_arm1)
+ {
+ switch_rondjes = 1;
+ }
+ break;
+ }
+
+
+ if (y2 > minimum_contract & y2 < medium_contract)
+ {
+ motor1speed.write((y2 - minimum_contract)/(medium_contract - minimum_contract));
+ }
+ if (y2 > medium_contract) // Hoger dan drempelwaarde = Actief
+ {
+ motor1speed.write((y2 - minimum_contract)/(medium_contract - minimum_contract));
+ }
+ if (y2 < minimum_contract) // Lager dan drempel = Rust
+ {
+ motor1speed.write(relax);
+ }
+ if (pos_arm1 > minimum_throw_angle & pos_arm1 < maximum_throw_angle)
+ {
+ if (y1> maximum_leftbiceps)
+ {
+ magnet.write(off);
+ motor1speed.write(relax);
+ fase = 3;
+ pc.printf("Van fase 2 naar fase 3\n");
+ wait(2);
+ j = 0;
+ fase_switch_wait = true;
+ }
+ }
+ pc.printf("Armposition \t %i \t EMG1 en EMG2 = %f \t %f \n", pos_arm1, y1, y2);
+ break;
+ //********************************************* Fase 3 **********************************************
+ case(3):
+
+ switch(switch_reset)
+ {
+ case(1):
+ if(pos_arm < reset_positie) //ene kant op draaien
+ {
+ motor1direction.write(cw);
+ speedcompensation2 = ((reset_positie - pos_arm)/900.0 + (0.1));
+ motor1speed.write(speedcompensation2);
+ }
+ if(pos_arm > reset_positie) //andere kant op
+ {
+ motor1direction.write(ccw);
+ speedcompensation2 = ((pos_arm - reset_positie)/500.0 + (0.1));
+ motor1speed.write(speedcompensation2);
+ }
+ if(pos_arm < reset_positie+5 && pos_arm > reset_positie-5) // Dit gaat niet goed komen, omdat het precies die waarde moet zijn
+ {
+ motor1speed.write(0);
+ arm = true;
+ switch_reset = 2;
+ }
+ pc.printf("Positie_arm = %f \t \t snelheid = %f \n",pos_arm, speedcompensation);
+ wait(0.0001);
+ break;
+
+ case(2):
+ pc.printf("\t switch magneet automatisch \n");
+ wait(1);
+ magnet.write(on);
+ wait(0.5);
+ switch_reset = 3;
+ break;
+
+ case(3):
+ if(pos_board < reset_board)
+ {
+ motor2direction.write(cw);
+ speedcompensation = ((reset_board - pos_board)/500.0 + (0.1));
+ motor2speed.write(speedcompensation);
+ }
+
+ if(pos_board > reset_board)
+ {
+ motor2direction.write(ccw);
+ speedcompensation = ((pos_board - reset_board)/500.0 + (0.1));
+ motor2speed.write(speedcompensation);
+ }
+ if(pos_board < reset_board+5 && pos_board > reset_board-5)
+ {
+ motor2speed.write(0);
+ board1 = true;
+ }
+ if(board1 == true)
+ {
+ red=0;
+ pc.printf("fase switch naar 1\n\n");
+ board1 = false;
+ arm = false;
+ // flag_calibration = true; !!!!! Moet naar gekeken worden of we elke spel willen calibreren
+ wait(2);
+ games_played ++;
+ games_played1 = games_played - (3*calibratie_metingen - 3);
+ pc.printf("Games played total count = %i and loop %i\n",games_played,games_played1);
+
+ if(games_played1 == 3){
+
+ flag_calibration = true;
+ while(t){
+ pc.printf("\tCalibratie begint over %i \n",t);
+ t--;
+ wait(1);
+ }
+ }
+ while(t){
+ pc.printf("\tNieuw spel begint over %i \n",t);
+ t--;
+ wait(1);
+ }
+
+ fase = 1; // Terug naar fase 1
+ switch_reset = 1; // De switch op orginele locatie zetten
+ t = 5;
+
+ }
+
+ pc.printf("Positie_board = %f \t \t snelheid = %f \n",pos_board, speedcompensation);
+ wait(0.0001);
+ break;
+ }
+ break;
+ //=================================================== STOP SCRIPT ============================================================
+ }
+ }
+ }
+}
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