File content as of revision 4:f0fd4a4ec178:

#include "mbed.h"
#include "HIDScope.h"
#include "MODSERIAL.h"
#include "QEI.h"

//Aray of locations and Length of parts
float X [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5};
float Y [10] = {-4, -3, -2, -1, 0, 1, 2, 3, 4, 5};
const double L1 = 0.34;
const double L2 = 0.26;
const double L_board= 0.42;
const double R_Max_error = 0.01;

//---------- Change motor control parameters-------
//Motor 1
const float M1_Ks = 0.4;           //minimum power required to move
const float M1_Kp = 0.1;          //strentgh of proportional control
const float M1_Kd = 0.1;          //strentgh of differential control Include timestep in constant
const float M1_Ki = 0.1;           //strentgh of integrational control Include timestep in constant
const double M1_friction = 0.55;    //minimum power required to make the motor move
//Motor 2
const float M2_Ks = 0.4;           //minimum power required to move
const float M2_Kp = 0.1;          //strentgh of proportional control
const float M2_Kd = 0.1;          //strentgh of differential control Include timestep in constant
const float M2_Ki = 0.1;           //strentgh of integrational control Include timestep in constant
const double M2_friction = 0.55;    //minimum power required to make the motor move
//----------End of control parameters

//encoder
QEI Motor1 (D13, D12, NC, 32);
QEI Motor2 (D11, D10, NC, 32);

//Define pins
DigitalOut      M2(D7);   //direction 2 //1 is cc 0=cw
PwmOut          E2(D6);   //speed 2
DigitalOut      M1(D4);  //direction 1 //1 is cc 0=cw
PwmOut          E1(D5);   //speed 1
AnalogIn        pot1(A0);   //read value of pot1 for position
AnalogIn        pot2(A1);   //read value of pot2 for position
DigitalOut      myled(LED_GREEN);
MODSERIAL       pc(USBTX, USBRX);
DigitalIn       button(PTA4);
DigitalIn       button_Arm1(D1);
DigitalIn       button_Arm2(D2);
HIDScope        scope(2);

//Define Variables
double M1_dpos, M1_pos;
double M2_dpos, M2_pos;
double M_error, M1_error, M2_error;
double R_set, A_R, R_error, R_error_int, R_cal, R_cal1, R_cal2;
double Q_set, Q_end, Q_error, Q_error_int, Q_cal, Q_cal1, Q_cal2;
double position;
const double long gearbox = 0.085877862;
const double long PI = 3.14159265359;
double M_error1 = 0;
int run = 0;

//Timers and Tickers
Timer t;
Ticker t1,t2,t3;

//booleans run program
volatile bool send_go = false, setpoint_go = false, control_go= false, calibration_go= true;

//------------------Activate programs-----------
//Activate send data pc
void Send_True()
{
    send_go = true;
}
// Activate desired location
void M_Setpoint_True()
{
    setpoint_go = true;
}
// Controll if motor should go or not
void M_Control_True()
{
    control_go = true;
}
//------------------End of activate programs--------


//------------------Start of control programs-------

//Send values over HIDScope & Serial port
void Send()
{
    scope.set(0,Motor1.getPulses());
    scope.set(1,Motor2.getPulses());
    scope.send();
//    pc.printf("Deg M1: %f M2: %f\n", M1_pos, M2_pos);
}

//Desired Position Motors
void Setpoint()
{
    // check if
    int R_set1=R_set;
    int Q_set1=Q_set;

    //set desired x and y point in array --> do this with EMG
    int dX = pot1.read() * 10;
    int dY = pot2.read() * 10;

    //Set the length of the arm
    R_set = sqrt( X[dX] * X[dX] + Y[dY] * Y[dY]);  //desired length of the arm
    Q_set = acos( Y[dY] / X[dX] );          //desired angle of the arm (theta for Qref) [rad]

    if (R_set1!=R_set && Q_set1 != Q_set) { // of ipv en
        run=run+1;
        R_error_int=0;
        Q_error_int=0;
    } else {}

}

void Lengtharm()
{
    //read out length of arm
    double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0);
    double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0);
    A_R = sqrt( pow (A_Rx, 2) + pow (A_Ry, 2)); //length Arm
    R_error= A_R-R_set; //error in arm length

    pc.printf("R_set = %f A_R = %f R_error = %f \n", R_set, A_R, R_error);
}

void Qpos()
{
    //read out pos of Motor 1
    double A_Rx = L1 * cos(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * cos( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0);
    double A_Ry = L1 * sin(gearbox * Motor1.getPulses() * PI / 180.0) + L2 * sin( (gearbox * Motor1.getPulses() + gearbox * Motor2.getPulses())* PI / 180.0);
    Q_end= acos( A_Ry / A_Rx ); //actual angle of the arm  //Aandacht is dit graden(moet in radians)?!!!!!
    Q_error= Q_end-Q_set; //error in angle of Qref

    pc.printf("Q_set = %f Q_end= %f Q_error = %f \n", Q_set, Q_end, Q_error);
}

double Pw_control (double S_error, double& S_error_int, double Ks, double Kp,double Ki,double Kd, double friction)
{
    // Motor Power
    M_error = S_error; //give the amount of error

    double M_error_int = S_error_int + M_error / 1e4;
    S_error_int = M_error_int;
    double Ps = Ks;
    double Pp = Kp * M_error;                                        //Proportional control
    double Pi = Ki * M_error_int;  //check dit --> nog niet goed                            //int controll
    double Pd = Kd * (M_error - M_error1);    //Differtial control
    M_error1 = M_error;
    double Power = Ps + Pp + Pi + Pd;
    pc.printf("Power bf: %f Pi: %f \n", Power, Pi);

    // overcome minimum power required to turn and stop the motor from 'piepen' Also limit power to a max.
    if (Power<friction) {
        Power=0;
    } else if (Power>0.7) {
        Power=0.7;
    } else {}

    //print error
//    pc.printf("Error: %f Direction: %f Position M: %f Setpoint %f \n", M_error, position, setpoint);

    pc.printf("Power: %f\n", Power);
    return Power ;//is it possible to return 2 things for
}

// direction controll
bool dr_control (double A, double B)
{
    // Direction motor should turn
    int Direction = (A > B) ? false:true;
    return Direction;
}

//--------------- End of control programs----------
int main()
{
    //turn that led off!It hurts my eyes! Ow, I do boot.
    myled = 1;

    //PWM period motors
    E1.period(0.0001f);
    E2.period(0.0001f);

    pc.baud(115200);

    //sub programs - time how fast everything occurs
    t1.attach_us(&Send_True, 1e4);         //Send data to pc
    t2.attach_us(&M_Setpoint_True, 1e4);   //Desired position motor(EMG goes here)
    t3.attach_us(M_Control_True, 1e4);      //Speed control here

//calibration
 // 0 point position
    while (1) {
        if (button == true) {
            Qpos();
            Lengtharm();
            Q_cal=Q_end;
            R_cal=A_R;
            break;
        }
    }
    // Board point A
        while (1) {
        if (button == true) {
            Qpos();
            Lengtharm();
            Q_cal1=Q_end;
            R_cal1=A_R;
            break;
        }
    }
    //Board point B
        while (1) {
        if (button == true) {
            Qpos();
            Lengtharm();
            Q_cal2=Q_end;
            R_cal2=A_R;
            break;
        }
    }
    
    
//-------------Schedule programs-------------------
    while(1) {
        if (calibration_go == true) {
            //setpoint
            R_set = Q_cal;
            Q_set = R_cal;
            if (button_Arm1 == true && button_Arm2 == true ) {
                Q_end = Q_cal;
                A_R = R_cal;
                calibration_go == false;
            } else {}
        } else if(setpoint_go == true && calibration_go == false) {
            if (run == 2) {
                calibration_go == true;
                run = 0;
            } else {
                Setpoint();
            }
            setpoint_go = false;
        } else if (control_go == true) {
            Lengtharm();
            Qpos();
            if (-1*R_Max_error<R_error<R_Max_error) {
                // control Motor2
                E2 = Pw_control (R_error, R_error_int, M2_Ks, M2_Kp, M2_Ki, M2_Kd, M2_friction);
                M2 = dr_control (A_R,R_set);
                M2_error = M_error;
                //print error
                pc.printf("M1_pos = %f M1_error = %f M2_pos = %f M2_error = %f\n", M1_pos, M1_error, M2_pos, M2_error);
            } // once this works place it in 'send'
            else if (-1*R_Max_error>R_error>R_Max_error) {
                // control Motor 1
                E1 = Pw_control (Q_error, Q_error_int, M1_Ks, M1_Kp, M1_Ki, M1_Kd, M1_friction);
                M1 = dr_control (Q_end, Q_set);
                // control Motor 2 - has to do nothing
                E2 = 0;
            } else {}
            control_go = false;
        } else if (send_go == true) {
            Send();

            send_go = false;
        } else {

//-----------End of scedule progrmas----------------
        }
    }
}