Biorobotics / Robot-Software

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

main.cpp@45:829a3992d689, 2018-11-01 (annotated)

Committer:
Spekdon
Date:
Thu Nov 01 19:48:22 2018 +0000
Revision:
45:829a3992d689
Parent:
44:25eec278c623
Child:
46:9b60a3c1acab
Working code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MaikOvermars 0:4cb1de41d049 1 #include "mbed.h"
MaikOvermars 0:4cb1de41d049 2 #include "MODSERIAL.h"
MaikOvermars 0:4cb1de41d049 3 #include "QEI.h"
MaikOvermars 0:4cb1de41d049 4 #include "HIDScope.h"
MaikOvermars 0:4cb1de41d049 5 #include "BiQuad.h"
MaikOvermars 0:4cb1de41d049 6 #include "PID_controller.h"
Spekdon 45:829a3992d689 7 //#include "kinematics.h"
Spekdon 45:829a3992d689 8 #include "Servo.h"
MaikOvermars 17:1f93c83e211f 9 #include "processing_chain_emg.h"
Spekdon 43:8e2ea92fee01 10 #include <vector>
Spekdon 43:8e2ea92fee01 11
Spekdon 45:829a3992d689 12 //pc
Spekdon 45:829a3992d689 13 MODSERIAL pc(USBTX, USBRX);
MaikOvermars 0:4cb1de41d049 14
MaikOvermars 10:7339dca7d604 15 // emg inputs
MaikOvermars 0:4cb1de41d049 16 AnalogIn emg0( A0 );
MaikOvermars 0:4cb1de41d049 17 AnalogIn emg1( A1 );
Spekdon 45:829a3992d689 18 AnalogIn emg2( A2 );
Spekdon 45:829a3992d689 19 AnalogIn emg3( A3 );
Spekdon 45:829a3992d689 20 //Servo myservo(A5);
Spekdon 45:829a3992d689 21 //InterruptIn button1(SW2);
Spekdon 45:829a3992d689 22 //InterruptIn button2(SW3);
Spekdon 45:829a3992d689 23 double range;
MaikOvermars 0:4cb1de41d049 24
MaikOvermars 10:7339dca7d604 25 // motor ouptuts
MaikOvermars 0:4cb1de41d049 26 PwmOut motor1_pwm(D5);
MaikOvermars 0:4cb1de41d049 27 DigitalOut motor1_dir(D4);
bjonkheer 38:0f824c45f717 28 PwmOut motor2_pwm(D6);
bjonkheer 38:0f824c45f717 29 DigitalOut motor2_dir(D7);
Spekdon 45:829a3992d689 30 AnalogIn vx_adjustment(A4);
Spekdon 45:829a3992d689 31 AnalogIn vy_adjustment(A5);
MaikOvermars 0:4cb1de41d049 32
SvenD97 14:4744cc6c90f4 33 // defining encoders
MaikOvermars 16:0280a604cf7e 34 QEI motor_1_encoder(D12,D13,NC,32);
MaikOvermars 16:0280a604cf7e 35 QEI motor_2_encoder(D10,D11,NC,32);
SvenD97 14:4744cc6c90f4 36
MaikOvermars 17:1f93c83e211f 37 // other objects
MaikOvermars 0:4cb1de41d049 38 DigitalIn button(D0);
MaikOvermars 40:e217056584be 39 DigitalIn emgstop(SW2);
SvenD97 31:393a7ec1d396 40 DigitalOut led_R(LED_RED);
SvenD97 31:393a7ec1d396 41 DigitalOut led_B(LED_BLUE);
SvenD97 31:393a7ec1d396 42 DigitalOut led_G(LED_GREEN);
MaikOvermars 0:4cb1de41d049 43
SvenD97 14:4744cc6c90f4 44 // tickers and timers
MaikOvermars 16:0280a604cf7e 45 Ticker loop_ticker;
MaikOvermars 0:4cb1de41d049 46 Timer state_timer;
SvenD97 27:eee900e0a47d 47 Timer emg_timer;
MaikOvermars 0:4cb1de41d049 48
SvenD97 34:7d672cd04486 49 // Timeouts and related variables
SvenD97 34:7d672cd04486 50 Timeout make_button_active;
SvenD97 34:7d672cd04486 51 bool button_suppressed = false;
SvenD97 34:7d672cd04486 52
SvenD97 34:7d672cd04486 53 // States
SvenD97 31:393a7ec1d396 54 enum States {failure, waiting, calib_emg, calib_enc, operational, demo, homing}; //All possible robot states
SvenD97 27:eee900e0a47d 55 enum Emg_measures_states {not_in_calib_emg, calib_right_bicep, calib_right_tricep, calib_left_bicep, calib_left_tricep}; // States inside
SvenD97 37:5ddfd9e6cdb2 56 enum calib_enc_states {not_in_calib_enc, calib_enc_q1, calib_enc_q2};
MaikOvermars 0:4cb1de41d049 57
MaikOvermars 0:4cb1de41d049 58 //Global variables/objects
MaikOvermars 0:4cb1de41d049 59 States current_state;
SvenD97 31:393a7ec1d396 60 Emg_measures_states current_emg_calibration_state = not_in_calib_emg;
SvenD97 37:5ddfd9e6cdb2 61 calib_enc_states calib_enc_state = not_in_calib_enc;
MaikOvermars 16:0280a604cf7e 62
Spekdon 45:829a3992d689 63 double des_vx, des_vy, x, y, q1, q2, e1, e2, x_norm, y_norm; //will be set by the motor_controller function
bjonkheer 38:0f824c45f717 64 double u1, u2;
MaikOvermars 17:1f93c83e211f 65 double vxmax = 1.0, vymax = 1.0;
SvenD97 27:eee900e0a47d 66 double right_bicep_max = 0.0, right_tricep_max = 0.0, left_bicep_max= 0.0, left_tricep_max = 0.0;
MaikOvermars 40:e217056584be 67 double scaling_right_bicep = 1.0, scaling_right_tricep = 1.0, scaling_left_bicep = 1.0, scaling_left_tricep = 1.0;
SvenD97 27:eee900e0a47d 68
SvenD97 31:393a7ec1d396 69 // Variables for emg
SvenD97 31:393a7ec1d396 70 double raw_emg_0, process_emg_0;
SvenD97 31:393a7ec1d396 71 double raw_emg_1, process_emg_1;
SvenD97 31:393a7ec1d396 72 double raw_emg_2, process_emg_2;
SvenD97 31:393a7ec1d396 73 double raw_emg_3, process_emg_3;
SvenD97 31:393a7ec1d396 74
SvenD97 31:393a7ec1d396 75
SvenD97 33:eb77ed8d167c 76 // Variables for calibration
SvenD97 35:6110d0b5513b 77 double calib_q1 = 3.1415926535f;
SvenD97 37:5ddfd9e6cdb2 78 double calib_q2 = double(7)/double(6) * 3.1415926535f;
Spekdon 45:829a3992d689 79 double off_set_q1 = 0.5f*3.1415926535f; // This variable is used to determine the off set from our definition from q1 and q2.
Spekdon 45:829a3992d689 80 double off_set_q2 = 3.1415926535f;
SvenD97 33:eb77ed8d167c 81
SvenD97 30:7a66951a0122 82 // Variables defined for the homing state
SvenD97 35:6110d0b5513b 83 double q1_homing = 0.5f*3.1415926535f, q2_homing = 3.1415926535f;
Spekdon 45:829a3992d689 84 double qref1 = 0.5f*3.1415926535f, qref2 = 3.1415926535f;
Spekdon 45:829a3992d689 85 double beta = 0.05;
Spekdon 45:829a3992d689 86 double k_hom = 0.05;
SvenD97 31:393a7ec1d396 87
SvenD97 31:393a7ec1d396 88 // For the state calib_enc
SvenD97 31:393a7ec1d396 89 double q1old;
SvenD97 31:393a7ec1d396 90 double q2old;
SvenD97 30:7a66951a0122 91
Spekdon 43:8e2ea92fee01 92 vector<double> currentconfig;
Spekdon 43:8e2ea92fee01 93 vector<double> newconfig;
Spekdon 43:8e2ea92fee01 94 vector<double> ref;
Spekdon 45:829a3992d689 95 vector<double> testconfig;
Spekdon 43:8e2ea92fee01 96
Spekdon 43:8e2ea92fee01 97 double currentx;
Spekdon 43:8e2ea92fee01 98 double currenty;
Spekdon 43:8e2ea92fee01 99
Spekdon 43:8e2ea92fee01 100 double L1 = 0.4388;
Spekdon 43:8e2ea92fee01 101 double L2 = 0.4508;
Spekdon 43:8e2ea92fee01 102
SvenD97 27:eee900e0a47d 103 // Meaning of process_emg_0 and such
SvenD97 27:eee900e0a47d 104 // - process_emg_0 is right biceps
SvenD97 27:eee900e0a47d 105 // - process_emg_1 is right triceps
SvenD97 27:eee900e0a47d 106 // - process_emg_2 is left biceps
SvenD97 27:eee900e0a47d 107 // - process_emg_3 is left triceps
bjonkheer 23:7d83af123c43 108
MaikOvermars 0:4cb1de41d049 109 int counts_per_rotation = 32;
MaikOvermars 0:4cb1de41d049 110 bool state_changed = false;
SvenD97 8:bba05e863b68 111 const double T = 0.001;
bjonkheer 23:7d83af123c43 112
Spekdon 45:829a3992d689 113 bool gripperclosed = false;
Spekdon 45:829a3992d689 114
SvenD97 30:7a66951a0122 115 // Resolution of the encoder at the output axle
SvenD97 30:7a66951a0122 116 double resolution = (2.0f*3.1415926535f/double(counts_per_rotation))*(1.0/131.0); // In radians
SvenD97 30:7a66951a0122 117
MaikOvermars 17:1f93c83e211f 118 // Functions
Spekdon 43:8e2ea92fee01 119
Spekdon 45:829a3992d689 120 //void open_gripper(){
Spekdon 45:829a3992d689 121 // myservo=0;
Spekdon 45:829a3992d689 122 //}
Spekdon 45:829a3992d689 123 //
Spekdon 45:829a3992d689 124 //void close_gripper(){
Spekdon 45:829a3992d689 125 // myservo=1;
Spekdon 45:829a3992d689 126 //}
Spekdon 45:829a3992d689 127
Spekdon 43:8e2ea92fee01 128 vector<double> forwardkinematics_function(double& q1, double& q2) {
Spekdon 43:8e2ea92fee01 129 // input are joint angles, output are x and y position of end effector
Spekdon 43:8e2ea92fee01 130
Spekdon 43:8e2ea92fee01 131 //previously +x01 and +y01
Spekdon 43:8e2ea92fee01 132 currentx = L1*cos(q1)-L2*cos(q2);
Spekdon 43:8e2ea92fee01 133 currenty = L1 * sin(q1) - L2 * sin(q2);
Spekdon 43:8e2ea92fee01 134
Spekdon 43:8e2ea92fee01 135 vector<double> xy;
Spekdon 43:8e2ea92fee01 136 xy.push_back(currentx);
Spekdon 43:8e2ea92fee01 137 xy.push_back(currenty);
Spekdon 43:8e2ea92fee01 138 return xy;
Spekdon 43:8e2ea92fee01 139
Spekdon 43:8e2ea92fee01 140 }
Spekdon 43:8e2ea92fee01 141
Spekdon 45:829a3992d689 142 vector<double> inversekinematics_function(const double& T, double ref1, double ref2, double& q1, double& q2, double& des_vx, double& des_vy) {
Spekdon 43:8e2ea92fee01 143 // x, y: positions of end effector | T: time to hold current velocity | qref1, qref2: reference thetas | q1, q2: current thetas | vx, vy: desired x, y velocities
Spekdon 43:8e2ea92fee01 144
Spekdon 43:8e2ea92fee01 145 // pseudo inverse jacobian to get joint speeds
Spekdon 43:8e2ea92fee01 146 // input are desired vx and vy of end effector, output joint angle speeds
Spekdon 43:8e2ea92fee01 147
Spekdon 43:8e2ea92fee01 148 double q1_star_des; // desired joint velocity of q1_star
Spekdon 43:8e2ea92fee01 149 double q2_star_des; // same as above but then for q2_star
Spekdon 43:8e2ea92fee01 150 double C;
Spekdon 43:8e2ea92fee01 151
Spekdon 43:8e2ea92fee01 152 // The calculation below assumes that the end effector position is calculated before this function is executed
Spekdon 43:8e2ea92fee01 153 // In our case the determinant will not equal zero, hence no problems with singularies I think.
Spekdon 43:8e2ea92fee01 154
Spekdon 43:8e2ea92fee01 155 C = L1*L2*sin(ref1)*cos(ref2) - L1*L2*sin(ref2)*cos(ref1);
Spekdon 45:829a3992d689 156 q1_star_des = double(1/C)*(-L2*cos(ref2)*des_vx - L2*sin(ref2)*des_vy);
Spekdon 45:829a3992d689 157 q2_star_des = double(1/C)*((L2*cos(ref2)-L1*cos(ref1))*des_vx + (L2*sin(ref2)-L1*sin(ref1))*des_vy);
Spekdon 43:8e2ea92fee01 158
Spekdon 43:8e2ea92fee01 159 qref1 = T*q1_star_des;
Spekdon 43:8e2ea92fee01 160 qref2 = T*(q2_star_des+q1_star_des);
Spekdon 43:8e2ea92fee01 161
Spekdon 43:8e2ea92fee01 162 double testq1 = ref1+qref1;
Spekdon 43:8e2ea92fee01 163 double testq2 = ref2+qref2;
Spekdon 43:8e2ea92fee01 164 newconfig = forwardkinematics_function(testq1, testq2);
Spekdon 43:8e2ea92fee01 165
Spekdon 45:829a3992d689 166 if (sqrt(pow(newconfig[0],2)+pow(newconfig[1],2)) > 1)
Spekdon 43:8e2ea92fee01 167 {
Spekdon 43:8e2ea92fee01 168 qref1 = ref1;
Spekdon 43:8e2ea92fee01 169 qref2 = ref2;
Spekdon 43:8e2ea92fee01 170 }
Spekdon 43:8e2ea92fee01 171 else
Spekdon 43:8e2ea92fee01 172 {
Spekdon 43:8e2ea92fee01 173 qref1 = ref1 + qref1;
Spekdon 43:8e2ea92fee01 174 qref2 = ref2 + qref2;
Spekdon 43:8e2ea92fee01 175 }
Spekdon 43:8e2ea92fee01 176
Spekdon 43:8e2ea92fee01 177 vector<double> thetas;
Spekdon 43:8e2ea92fee01 178 thetas.push_back(qref1);
Spekdon 43:8e2ea92fee01 179 thetas.push_back(qref2);
Spekdon 43:8e2ea92fee01 180 return thetas;
Spekdon 43:8e2ea92fee01 181 }
Spekdon 43:8e2ea92fee01 182
MaikOvermars 0:4cb1de41d049 183 void measure_all()
MaikOvermars 0:4cb1de41d049 184 {
Spekdon 45:829a3992d689 185 q1 = (motor_1_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation)*(1.0/131.0) + off_set_q1; //do this here, and not in the encoder interrupt, to reduce computational load
Spekdon 45:829a3992d689 186 q2 = (motor_2_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation)*(1.0/131.0) + off_set_q2;
Spekdon 43:8e2ea92fee01 187 currentconfig = forwardkinematics_function(q1,q2); //previously x,y also input
MaikOvermars 17:1f93c83e211f 188 raw_emg_0 = emg0.read(); //sample analog voltages (all sampling theory applies, you might get aliasing etc.)
MaikOvermars 17:1f93c83e211f 189 raw_emg_1 = emg1.read();
Spekdon 45:829a3992d689 190 raw_emg_2 = emg2.read();
Spekdon 45:829a3992d689 191 raw_emg_3 = emg3.read();
MaikOvermars 41:e9d6fdf02074 192 processing_chain_emg(raw_emg_0, raw_emg_1, raw_emg_2, raw_emg_3, process_emg_0, process_emg_1, process_emg_2, process_emg_3); // processes the emg signals
MaikOvermars 0:4cb1de41d049 193 }
MaikOvermars 0:4cb1de41d049 194
MaikOvermars 0:4cb1de41d049 195 void output_all() {
MaikOvermars 0:4cb1de41d049 196 motor1_pwm = fabs(u1);
Spekdon 45:829a3992d689 197 if (motor1_pwm > 1.0f){
Spekdon 45:829a3992d689 198 motor1_pwm = 1.0f;
Spekdon 45:829a3992d689 199 }
MaikOvermars 16:0280a604cf7e 200 motor1_dir = u1 > 0.0f;
MaikOvermars 0:4cb1de41d049 201 motor2_pwm = fabs(u2);
Spekdon 45:829a3992d689 202 if (motor2_pwm > 1.0f){
Spekdon 45:829a3992d689 203 motor2_pwm = 1.0f;
Spekdon 45:829a3992d689 204 }
MaikOvermars 16:0280a604cf7e 205 motor2_dir = u2 > 0.0f;
MaikOvermars 0:4cb1de41d049 206 static int output_counter = 0;
MaikOvermars 0:4cb1de41d049 207 output_counter++;
MaikOvermars 0:4cb1de41d049 208 }
MaikOvermars 0:4cb1de41d049 209
SvenD97 34:7d672cd04486 210 void unsuppressing_button(){
SvenD97 34:7d672cd04486 211 button_suppressed = false;
SvenD97 34:7d672cd04486 212 }
SvenD97 34:7d672cd04486 213
MaikOvermars 0:4cb1de41d049 214 void state_machine() {
MaikOvermars 0:4cb1de41d049 215 switch(current_state) { //States can be: failure, wait, calib_enc, calib_emg, operational, demo,
MaikOvermars 0:4cb1de41d049 216 case waiting: //Nothing useful here, maybe a blinking LED for fun and communication to the user
SvenD97 37:5ddfd9e6cdb2 217 if (button.read()==false)
MaikOvermars 0:4cb1de41d049 218 {
Spekdon 45:829a3992d689 219 current_state = calib_emg; //the NEXT loop we will be in calib_enc state
Spekdon 45:829a3992d689 220 current_emg_calibration_state = calib_right_bicep;
SvenD97 37:5ddfd9e6cdb2 221 calib_enc_state = calib_enc_q2;
SvenD97 31:393a7ec1d396 222 state_changed = true;
MaikOvermars 0:4cb1de41d049 223 }
bjonkheer 29:d1e8eb135e6c 224
MaikOvermars 0:4cb1de41d049 225 break; //to avoid falling through to the next state, although this can sometimes be very useful.
MaikOvermars 0:4cb1de41d049 226
MaikOvermars 0:4cb1de41d049 227 case calib_enc:
bjonkheer 29:d1e8eb135e6c 228
MaikOvermars 0:4cb1de41d049 229 if (state_changed==true)
MaikOvermars 0:4cb1de41d049 230 {
MaikOvermars 0:4cb1de41d049 231 state_timer.reset();
MaikOvermars 0:4cb1de41d049 232 state_timer.start();
MaikOvermars 0:4cb1de41d049 233 state_changed = false;
bjonkheer 29:d1e8eb135e6c 234 led_G = 0;
bjonkheer 29:d1e8eb135e6c 235 led_B = 1;
bjonkheer 29:d1e8eb135e6c 236 led_R = 1;
SvenD97 44:25eec278c623 237 //u1 = 0.2;
SvenD97 44:25eec278c623 238 //u2 = -0.65f;
bjonkheer 29:d1e8eb135e6c 239 q1old = 0;
bjonkheer 29:d1e8eb135e6c 240 q2old = 0;
MaikOvermars 0:4cb1de41d049 241 }
bjonkheer 29:d1e8eb135e6c 242
SvenD97 37:5ddfd9e6cdb2 243 switch(calib_enc_state){
SvenD97 37:5ddfd9e6cdb2 244 case calib_enc_q2:
SvenD97 37:5ddfd9e6cdb2 245 if (q2 - q2old == 0.0 && state_timer.read() > 5.0f)
SvenD97 37:5ddfd9e6cdb2 246 {
SvenD97 37:5ddfd9e6cdb2 247 calib_enc_state = calib_enc_q1;
SvenD97 37:5ddfd9e6cdb2 248 off_set_q2 = calib_q2 - q2;
SvenD97 44:25eec278c623 249 //u2 = -0.4;
SvenD97 44:25eec278c623 250 //u1 = -0.75;
SvenD97 37:5ddfd9e6cdb2 251 state_timer.reset();
SvenD97 37:5ddfd9e6cdb2 252 state_timer.start();
SvenD97 37:5ddfd9e6cdb2 253 }
SvenD97 37:5ddfd9e6cdb2 254 q2old = q2;
SvenD97 37:5ddfd9e6cdb2 255 break;
SvenD97 37:5ddfd9e6cdb2 256 case calib_enc_q1:
SvenD97 37:5ddfd9e6cdb2 257 if (q1 - q1old == 0.0 && state_timer.read() > 5.0f)
SvenD97 37:5ddfd9e6cdb2 258 {
SvenD97 37:5ddfd9e6cdb2 259 calib_enc_state = not_in_calib_enc;
SvenD97 37:5ddfd9e6cdb2 260 current_emg_calibration_state = calib_right_bicep;
Spekdon 43:8e2ea92fee01 261 current_state = calib_emg;
SvenD97 37:5ddfd9e6cdb2 262 state_changed = true;
SvenD97 37:5ddfd9e6cdb2 263 off_set_q1 = calib_q1 - q1;
SvenD97 44:25eec278c623 264 //u1 = 0;
SvenD97 37:5ddfd9e6cdb2 265 state_timer.reset();
SvenD97 37:5ddfd9e6cdb2 266 state_timer.start();
SvenD97 37:5ddfd9e6cdb2 267 }
bjonkheer 38:0f824c45f717 268 q1old = q1;
SvenD97 37:5ddfd9e6cdb2 269 break;
SvenD97 37:5ddfd9e6cdb2 270 default:
SvenD97 37:5ddfd9e6cdb2 271 current_state = failure;
MaikOvermars 0:4cb1de41d049 272 }
MaikOvermars 0:4cb1de41d049 273 break;
MaikOvermars 0:4cb1de41d049 274
MaikOvermars 0:4cb1de41d049 275 case calib_emg: //calibrate emg-signals
SvenD97 27:eee900e0a47d 276 if (state_changed == true){
SvenD97 27:eee900e0a47d 277 state_timer.reset();
SvenD97 27:eee900e0a47d 278 state_timer.start();
SvenD97 27:eee900e0a47d 279 emg_timer.reset();
SvenD97 27:eee900e0a47d 280 emg_timer.start();
SvenD97 27:eee900e0a47d 281 state_changed = false;
SvenD97 27:eee900e0a47d 282 }
MaikOvermars 42:bcd496523c66 283 // first the led will be purple, during this time the right biceps should be maximally contracted
MaikOvermars 42:bcd496523c66 284 // after five seconds and when the right biceps are relaxed, it switches to a blue led
MaikOvermars 42:bcd496523c66 285 // when the blue led is active the right triceps should be maximally contracted
MaikOvermars 42:bcd496523c66 286 // then again it switches to purple for left biceps and after that blue for left triceps
MaikOvermars 42:bcd496523c66 287 // after this, the emg signals are calibrated
SvenD97 31:393a7ec1d396 288 switch(current_emg_calibration_state){
SvenD97 27:eee900e0a47d 289 case calib_right_bicep:
MaikOvermars 40:e217056584be 290 led_R = 0;
MaikOvermars 40:e217056584be 291 led_G = 1;
MaikOvermars 42:bcd496523c66 292 led_B = 0;
SvenD97 27:eee900e0a47d 293 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 294 if (process_emg_0 > right_bicep_max){
SvenD97 27:eee900e0a47d 295 right_bicep_max = process_emg_0;
SvenD97 27:eee900e0a47d 296 }
SvenD97 27:eee900e0a47d 297 }
MaikOvermars 40:e217056584be 298 else if ((process_emg_0 < 0.1*right_bicep_max) || (emgstop.read() == false)){
MaikOvermars 40:e217056584be 299 scaling_right_bicep = 1.0/ right_bicep_max;
SvenD97 27:eee900e0a47d 300 current_emg_calibration_state = calib_right_tricep;
SvenD97 27:eee900e0a47d 301 emg_timer.reset();
SvenD97 27:eee900e0a47d 302 emg_timer.start();
SvenD97 27:eee900e0a47d 303 }
SvenD97 27:eee900e0a47d 304 break;
SvenD97 27:eee900e0a47d 305 case calib_right_tricep:
MaikOvermars 40:e217056584be 306 led_R = 1;
MaikOvermars 40:e217056584be 307 led_G = 1;
MaikOvermars 40:e217056584be 308 led_B = 0;
SvenD97 27:eee900e0a47d 309 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 310 if (process_emg_1 > right_tricep_max){
SvenD97 27:eee900e0a47d 311 right_tricep_max = process_emg_1;
SvenD97 27:eee900e0a47d 312 }
SvenD97 27:eee900e0a47d 313 }
MaikOvermars 40:e217056584be 314 else if ((process_emg_1 < 0.1*right_tricep_max) || (emgstop.read() == false)){
MaikOvermars 40:e217056584be 315 scaling_right_tricep = 1.0/ right_tricep_max;
SvenD97 30:7a66951a0122 316 current_emg_calibration_state = calib_left_bicep;
SvenD97 30:7a66951a0122 317 emg_timer.reset();
SvenD97 30:7a66951a0122 318 emg_timer.start();
SvenD97 30:7a66951a0122 319 }
SvenD97 27:eee900e0a47d 320 break;
MaikOvermars 40:e217056584be 321 case calib_left_bicep:
MaikOvermars 40:e217056584be 322 led_R = 0;
MaikOvermars 40:e217056584be 323 led_G = 1;
MaikOvermars 42:bcd496523c66 324 led_B = 0;
SvenD97 30:7a66951a0122 325 if(emg_timer < 5.0f){
SvenD97 30:7a66951a0122 326 if (process_emg_2 > left_bicep_max){
SvenD97 30:7a66951a0122 327 left_bicep_max = process_emg_2;
SvenD97 27:eee900e0a47d 328 }
SvenD97 30:7a66951a0122 329 }
MaikOvermars 40:e217056584be 330 else if ((process_emg_2 < 0.1*left_bicep_max) || (emgstop.read() == false)){
MaikOvermars 40:e217056584be 331 scaling_left_bicep = 1.0/ left_bicep_max;
SvenD97 30:7a66951a0122 332 current_emg_calibration_state = calib_left_tricep;
SvenD97 30:7a66951a0122 333 emg_timer.reset();
SvenD97 30:7a66951a0122 334 emg_timer.start();
SvenD97 30:7a66951a0122 335 }
SvenD97 27:eee900e0a47d 336 break;
SvenD97 27:eee900e0a47d 337 case calib_left_tricep:
MaikOvermars 40:e217056584be 338 led_R = 1;
MaikOvermars 40:e217056584be 339 led_G = 1;
MaikOvermars 40:e217056584be 340 led_B = 0;
MaikOvermars 40:e217056584be 341 if(emg_timer < 5.0f){
MaikOvermars 40:e217056584be 342 if (process_emg_3 > left_tricep_max){
MaikOvermars 40:e217056584be 343 left_tricep_max = process_emg_3;
MaikOvermars 40:e217056584be 344 }
MaikOvermars 40:e217056584be 345 }
MaikOvermars 40:e217056584be 346 else if ((process_emg_3 < 0.1*left_tricep_max) || (emgstop.read() == false)){
MaikOvermars 40:e217056584be 347 scaling_left_tricep = 1.0/ left_tricep_max;
MaikOvermars 40:e217056584be 348 current_emg_calibration_state = not_in_calib_emg;
MaikOvermars 42:bcd496523c66 349 current_state = operational;
MaikOvermars 40:e217056584be 350 state_changed = true;
MaikOvermars 40:e217056584be 351 emg_timer.reset();
MaikOvermars 42:bcd496523c66 352 led_R = 1;
MaikOvermars 42:bcd496523c66 353 led_G = 1;
MaikOvermars 42:bcd496523c66 354 led_B = 1;
MaikOvermars 40:e217056584be 355 }
SvenD97 27:eee900e0a47d 356 break;
SvenD97 27:eee900e0a47d 357 default:
SvenD97 27:eee900e0a47d 358 current_state = failure;
SvenD97 27:eee900e0a47d 359 state_changed = true;
SvenD97 31:393a7ec1d396 360 }
SvenD97 31:393a7ec1d396 361
SvenD97 31:393a7ec1d396 362 break;
SvenD97 27:eee900e0a47d 363
SvenD97 30:7a66951a0122 364 case homing:
SvenD97 30:7a66951a0122 365 if (state_changed == true){
SvenD97 30:7a66951a0122 366 state_timer.reset();
SvenD97 30:7a66951a0122 367 state_timer.start();
SvenD97 30:7a66951a0122 368 qref1 = q1; //NOT SURE IF WE NEED THIS. I do not think so, but just to be sure.
SvenD97 30:7a66951a0122 369 qref2 = q2;
SvenD97 30:7a66951a0122 370 }
SvenD97 33:eb77ed8d167c 371 des_vx = min(beta, k_hom*(q1 - q1_homing)); // Little bit different then that Arvid told us, but now it works with the motor controller
SvenD97 33:eb77ed8d167c 372 des_vy = min(beta, k_hom*(q2 - q2_homing));
SvenD97 30:7a66951a0122 373
SvenD97 31:393a7ec1d396 374 // The value of 3.0 and 2*resolution can be changed
SvenD97 31:393a7ec1d396 375 if (fabs(q1-q1_homing) <= 2*resolution && fabs(q2-q2_homing) <= 2 * resolution ){
SvenD97 31:393a7ec1d396 376 if (state_timer > 3.0f){
SvenD97 31:393a7ec1d396 377 current_state = operational;
SvenD97 31:393a7ec1d396 378 state_changed = true;
SvenD97 33:eb77ed8d167c 379 des_vx = 0; // Not sure if needed but added it anyways.
SvenD97 33:eb77ed8d167c 380 des_vy = 0;
SvenD97 30:7a66951a0122 381 }
SvenD97 30:7a66951a0122 382 }
SvenD97 31:393a7ec1d396 383 else{
SvenD97 31:393a7ec1d396 384 state_timer.reset();
SvenD97 31:393a7ec1d396 385 }
SvenD97 31:393a7ec1d396 386 break;
MaikOvermars 0:4cb1de41d049 387
MaikOvermars 0:4cb1de41d049 388 case operational: //interpreting emg-signals to move the end effector
SvenD97 30:7a66951a0122 389 if (state_changed == true){
SvenD97 30:7a66951a0122 390 state_changed = false;
MaikOvermars 39:5db36ce5e620 391 }
MaikOvermars 40:e217056584be 392
MaikOvermars 40:e217056584be 393 // normalization
Spekdon 45:829a3992d689 394 x_norm = process_emg_0 * scaling_right_bicep - process_emg_1 * scaling_right_tricep;
Spekdon 45:829a3992d689 395 y_norm = process_emg_2 * scaling_left_bicep - process_emg_3 * scaling_left_tricep;
Spekdon 45:829a3992d689 396
Spekdon 45:829a3992d689 397 //x_norm = -1+2*vx_adjustment.read();
Spekdon 45:829a3992d689 398 //y_norm = -1+2*vy_adjustment.read();
MaikOvermars 40:e217056584be 399
MaikOvermars 17:1f93c83e211f 400 // here we have to determine the desired velocity based on the processed emg signals and calibration
MaikOvermars 40:e217056584be 401 // x velocity
Spekdon 43:8e2ea92fee01 402 if (x_norm >= 0.8) { des_vx = 0.2; }
Spekdon 43:8e2ea92fee01 403 else if(x_norm >= 0.6) { des_vx = 0.15; }
Spekdon 43:8e2ea92fee01 404 else if(x_norm >= 0.4) { des_vx = 0.1; }
Spekdon 43:8e2ea92fee01 405 else if(x_norm >= 0.2) { des_vx = 0.05; }
Spekdon 43:8e2ea92fee01 406 else if(x_norm <= -0.8) { des_vx = -0.2; }
Spekdon 43:8e2ea92fee01 407 else if(x_norm <= -0.6) { des_vx = -0.15; }
Spekdon 43:8e2ea92fee01 408 else if(x_norm <= -0.4) { des_vx = -0.1; }
Spekdon 43:8e2ea92fee01 409 else if(x_norm <= -0.2) { des_vx = -0.05; }
MaikOvermars 17:1f93c83e211f 410 else { des_vx = 0; }
MaikOvermars 17:1f93c83e211f 411
MaikOvermars 40:e217056584be 412 // y velocity
Spekdon 43:8e2ea92fee01 413 if (y_norm >= 0.8) { des_vy = 0.2; }
Spekdon 43:8e2ea92fee01 414 else if(y_norm >= 0.6) { des_vy = 0.15; }
Spekdon 43:8e2ea92fee01 415 else if(y_norm >= 0.4) { des_vy = 0.1; }
Spekdon 43:8e2ea92fee01 416 else if(y_norm >= 0.2) { des_vy = 0.05; }
Spekdon 43:8e2ea92fee01 417 else if(y_norm <= -0.8) { des_vy = -0.2; }
Spekdon 43:8e2ea92fee01 418 else if(y_norm <= -0.6) { des_vy = -0.15; }
Spekdon 43:8e2ea92fee01 419 else if(y_norm <= -0.4) { des_vy = -0.1; }
Spekdon 43:8e2ea92fee01 420 else if(y_norm <= -0.2) { des_vy = -0.05; }
MaikOvermars 17:1f93c83e211f 421 else { des_vy = 0; }
Spekdon 45:829a3992d689 422
Spekdon 45:829a3992d689 423 if (button.read() == false && button_suppressed == false ) {
SvenD97 30:7a66951a0122 424 current_state = demo;
SvenD97 30:7a66951a0122 425 state_changed = true;
SvenD97 34:7d672cd04486 426 button_suppressed = true;
SvenD97 34:7d672cd04486 427
SvenD97 34:7d672cd04486 428 make_button_active.attach(&unsuppressing_button,0.5);
SvenD97 34:7d672cd04486 429
MaikOvermars 39:5db36ce5e620 430 }
Spekdon 45:829a3992d689 431
MaikOvermars 0:4cb1de41d049 432 break;
MaikOvermars 0:4cb1de41d049 433
MaikOvermars 0:4cb1de41d049 434 case demo: //moving according to a specified trajectory
SvenD97 33:eb77ed8d167c 435 // We want to draw a square. Hence, first move to a certain point and then start moving a square.
SvenD97 30:7a66951a0122 436 if (state_changed == true){
SvenD97 30:7a66951a0122 437 state_changed = false;
MaikOvermars 39:5db36ce5e620 438 state_timer.reset();
MaikOvermars 39:5db36ce5e620 439 state_timer.start();
Spekdon 45:829a3992d689 440 des_vx = 0.1;
Spekdon 45:829a3992d689 441 des_vy = 0;
Spekdon 45:829a3992d689 442 }
Spekdon 43:8e2ea92fee01 443 double old_vx;
Spekdon 43:8e2ea92fee01 444 double old_vy;
Spekdon 43:8e2ea92fee01 445 if (state_timer > 2.0f){
Spekdon 43:8e2ea92fee01 446 old_vx = des_vx;
Spekdon 43:8e2ea92fee01 447 old_vy = des_vy;
Spekdon 45:829a3992d689 448
Spekdon 45:829a3992d689 449 des_vy = -old_vx;
Spekdon 45:829a3992d689 450 des_vx = old_vy;
Spekdon 45:829a3992d689 451
Spekdon 45:829a3992d689 452 state_timer.reset();
Spekdon 45:829a3992d689 453 state_timer.start();
Spekdon 43:8e2ea92fee01 454 }
Spekdon 45:829a3992d689 455
Spekdon 45:829a3992d689 456
MaikOvermars 42:bcd496523c66 457 // des_vx = 0.1; // first we move to the right
MaikOvermars 42:bcd496523c66 458 // des_vy = 0.0;
MaikOvermars 42:bcd496523c66 459
MaikOvermars 42:bcd496523c66 460 //static double new_vx, new_vy;
MaikOvermars 39:5db36ce5e620 461
MaikOvermars 42:bcd496523c66 462 //if(state_timer > 3.0f){ // after waiting an extra second we start on another side of the square
MaikOvermars 42:bcd496523c66 463 // state_timer.reset();
MaikOvermars 42:bcd496523c66 464 // state_timer.start();
MaikOvermars 42:bcd496523c66 465 // des_vx = new_vx;
MaikOvermars 42:bcd496523c66 466 // des_vy = new_vy;
MaikOvermars 42:bcd496523c66 467 //}
MaikOvermars 42:bcd496523c66 468 //else if(state_timer > 2.0f){ // we have a velocity of 0.1 m/s for 2 seconds, so we make a square of 20 by 20 cm
MaikOvermars 42:bcd496523c66 469 // if(des_vx > 0){new_vx = 0.0; new_vy = 0.1;} // here we check which side of the square we were on
MaikOvermars 42:bcd496523c66 470 // else if(des_vy > 0){new_vx = -0.1; new_vy = 0.0;}
MaikOvermars 42:bcd496523c66 471 // else if(des_vx < 0){new_vx = 0.0; new_vy = -0.1;}
MaikOvermars 42:bcd496523c66 472 // else if(des_vy < 0){new_vx = 0.1; new_vy = 0.0;}
MaikOvermars 42:bcd496523c66 473 // des_vx = 0;
MaikOvermars 42:bcd496523c66 474 // des_vy = 0;
MaikOvermars 42:bcd496523c66 475 //}
MaikOvermars 39:5db36ce5e620 476
SvenD97 30:7a66951a0122 477
Spekdon 45:829a3992d689 478 if (button.read() == false && button_suppressed == false ) {
SvenD97 30:7a66951a0122 479 current_state = operational;
SvenD97 30:7a66951a0122 480 state_changed = true;
SvenD97 34:7d672cd04486 481
SvenD97 34:7d672cd04486 482 button_suppressed = true;
SvenD97 34:7d672cd04486 483
SvenD97 34:7d672cd04486 484 make_button_active.attach(&unsuppressing_button,0.5);
SvenD97 30:7a66951a0122 485 }
MaikOvermars 0:4cb1de41d049 486
MaikOvermars 0:4cb1de41d049 487 break;
MaikOvermars 0:4cb1de41d049 488
MaikOvermars 0:4cb1de41d049 489 case failure: //no way to get out
MaikOvermars 0:4cb1de41d049 490 u1 = 0.0f;
MaikOvermars 17:1f93c83e211f 491 u2 = 0.0f;
bjonkheer 29:d1e8eb135e6c 492 led_R = 0;
bjonkheer 29:d1e8eb135e6c 493 led_G = 1;
bjonkheer 29:d1e8eb135e6c 494 led_B = 1;
MaikOvermars 0:4cb1de41d049 495 break;
MaikOvermars 0:4cb1de41d049 496 }
MaikOvermars 0:4cb1de41d049 497 }
MaikOvermars 0:4cb1de41d049 498
MaikOvermars 0:4cb1de41d049 499 void motor_controller()
MaikOvermars 0:4cb1de41d049 500 {
MaikOvermars 0:4cb1de41d049 501 if (current_state >= operational) { // we can (ab)use the fact that an enum is actually an integer, so math/logic rules still apply
Spekdon 43:8e2ea92fee01 502 ref = inversekinematics_function(T,qref1,qref2,q1,q2,des_vx,des_vy); //many different states can modify your reference position, so just do the inverse kinematics once, here
Spekdon 43:8e2ea92fee01 503 qref1 = ref[0];
Spekdon 43:8e2ea92fee01 504 qref2 = ref[1];
MaikOvermars 16:0280a604cf7e 505 e1 = qref1 - q1; //tracking error (q_ref - q_meas)
MaikOvermars 16:0280a604cf7e 506 e2 = qref2 - q2;
Spekdon 45:829a3992d689 507 PID_controller(e1*(180/3.14),e2*(180/3.14),u1,u2,T); //feedback controller or with possibly fancy controller additions...; pass by reference
MaikOvermars 0:4cb1de41d049 508 } //otherwise we just don’t mess with the value of control variable ‘u’ that is set somewhere in the state-machine.
MaikOvermars 0:4cb1de41d049 509 }
MaikOvermars 0:4cb1de41d049 510
MaikOvermars 0:4cb1de41d049 511
MaikOvermars 0:4cb1de41d049 512 void loop_function() {
MaikOvermars 0:4cb1de41d049 513 measure_all(); //measure all signals
MaikOvermars 0:4cb1de41d049 514 state_machine(); //Do relevant state dependent things
MaikOvermars 0:4cb1de41d049 515 motor_controller(); //Do not put different motor controllers in the states, because every state can re-use the same motor-controller!
MaikOvermars 0:4cb1de41d049 516 output_all(); //Output relevant signals, messages, screen outputs, LEDs etc.
MaikOvermars 0:4cb1de41d049 517 }
MaikOvermars 0:4cb1de41d049 518
MaikOvermars 0:4cb1de41d049 519
MaikOvermars 0:4cb1de41d049 520 int main()
MaikOvermars 0:4cb1de41d049 521 {
Spekdon 45:829a3992d689 522 pc.baud(115200);
MaikOvermars 0:4cb1de41d049 523 motor1_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 524 motor2_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 525 current_state = waiting; //we start in state ‘waiting’ and current_state can be accessed by all functions
MaikOvermars 0:4cb1de41d049 526 u1 = 0.0f; //initial output to motors is 0.
MaikOvermars 10:7339dca7d604 527 u2 = 0.0f;
MaikOvermars 41:e9d6fdf02074 528 bqc0.add(&bq0high).add(&bq0notch).add(&bq0notch2).add(&bq0notch3).add(&bq0notch4); // filter cascade for emg 0
MaikOvermars 41:e9d6fdf02074 529 bqc1.add(&bq1high).add(&bq1notch).add(&bq1notch2).add(&bq1notch3).add(&bq1notch4); // filter cascade for emg 1
MaikOvermars 41:e9d6fdf02074 530 bqc2.add(&bq2high).add(&bq2notch).add(&bq2notch2).add(&bq2notch3).add(&bq2notch4); // filter cascade for emg 2
MaikOvermars 41:e9d6fdf02074 531 bqc3.add(&bq3high).add(&bq3notch).add(&bq3notch2).add(&bq3notch3).add(&bq3notch4); // filter cascade for emg 3
MaikOvermars 17:1f93c83e211f 532 loop_ticker.attach(&loop_function, T); //Run the function loop_function 1000 times per second
SvenD97 32:2596cc9156ec 533 led_R = 1;
SvenD97 32:2596cc9156ec 534 led_B = 1;
SvenD97 32:2596cc9156ec 535 led_G = 1;
Spekdon 45:829a3992d689 536 // myservo = 1;
Spekdon 45:829a3992d689 537 // button1.fall(&open_gripper);
Spekdon 45:829a3992d689 538 // button2.fall(&close_gripper);
Spekdon 45:829a3992d689 539
Spekdon 45:829a3992d689 540 while (true) {pc.printf("error1: %f, error2: %f, pwm1: %f, pwm2: %f, qref1: %f, qref2: %f, vx: %f, vy: %f, q1: %f, q2: %f \r\n", e1, e2, u1, u2, qref1, qref2, des_vx, des_vy, x_norm, y_norm);
Spekdon 45:829a3992d689 541 testconfig = forwardkinematics_function(qref1,qref2);
Spekdon 45:829a3992d689 542 //double x = testconfig[0];
Spekdon 45:829a3992d689 543 //double y = testconfig[1];
Spekdon 45:829a3992d689 544 //pc.printf("x: %f, y: %f \r\n", x,y);
Spekdon 45:829a3992d689 545 } //Do nothing here (timing purposes)
MaikOvermars 0:4cb1de41d049 546 }