Biorobotics / Robot-Software

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

main.cpp@28:d952367fc0fc, 2018-10-29 (annotated)

Committer:
SvenD97
Date:
Mon Oct 29 15:12:24 2018 +0000
Revision:
28:d952367fc0fc
Parent:
25:734a26538711
Parent:
27:eee900e0a47d
Child:
29:d1e8eb135e6c
Merged;

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"
MaikOvermars 0:4cb1de41d049 7 #include "kinematics.h"
MaikOvermars 17:1f93c83e211f 8 #include "processing_chain_emg.h"
MaikOvermars 0:4cb1de41d049 9
MaikOvermars 0:4cb1de41d049 10 //Define objects
MaikOvermars 0:4cb1de41d049 11 MODSERIAL pc(USBTX, USBRX);
MaikOvermars 0:4cb1de41d049 12 HIDScope scope(2);
MaikOvermars 0:4cb1de41d049 13
MaikOvermars 10:7339dca7d604 14 // emg inputs
MaikOvermars 0:4cb1de41d049 15 AnalogIn emg0( A0 );
MaikOvermars 0:4cb1de41d049 16 AnalogIn emg1( A1 );
MaikOvermars 0:4cb1de41d049 17
MaikOvermars 10:7339dca7d604 18 // motor ouptuts
MaikOvermars 0:4cb1de41d049 19 PwmOut motor1_pwm(D5);
MaikOvermars 0:4cb1de41d049 20 DigitalOut motor1_dir(D4);
MaikOvermars 0:4cb1de41d049 21 PwmOut motor2_pwm(D7);
MaikOvermars 0:4cb1de41d049 22 DigitalOut motor2_dir(D6);
MaikOvermars 0:4cb1de41d049 23
SvenD97 14:4744cc6c90f4 24 // defining encoders
MaikOvermars 16:0280a604cf7e 25 QEI motor_1_encoder(D12,D13,NC,32);
MaikOvermars 16:0280a604cf7e 26 QEI motor_2_encoder(D10,D11,NC,32);
SvenD97 14:4744cc6c90f4 27
MaikOvermars 17:1f93c83e211f 28 // other objects
MaikOvermars 0:4cb1de41d049 29 AnalogIn potmeter1(A2);
MaikOvermars 0:4cb1de41d049 30 AnalogIn potmeter2(A3);
MaikOvermars 0:4cb1de41d049 31 DigitalIn button(D0);
MaikOvermars 0:4cb1de41d049 32
SvenD97 14:4744cc6c90f4 33 // tickers and timers
MaikOvermars 16:0280a604cf7e 34 Ticker loop_ticker;
MaikOvermars 0:4cb1de41d049 35 Timer state_timer;
SvenD97 27:eee900e0a47d 36 Timer emg_timer;
MaikOvermars 0:4cb1de41d049 37
MaikOvermars 0:4cb1de41d049 38 enum States {failure, waiting, calib_enc, calib_emg, operational, demo}; //All possible robot states
SvenD97 27:eee900e0a47d 39 enum Emg_measures_states {not_in_calib_emg, calib_right_bicep, calib_right_tricep, calib_left_bicep, calib_left_tricep}; // States inside
MaikOvermars 0:4cb1de41d049 40
MaikOvermars 0:4cb1de41d049 41 //Global variables/objects
MaikOvermars 0:4cb1de41d049 42 States current_state;
SvenD97 27:eee900e0a47d 43 Emg_measures_states curent_emg_calibration_state = not_in_calib_enc;
MaikOvermars 16:0280a604cf7e 44
MaikOvermars 17:1f93c83e211f 45 double des_vx, des_vy, x, y, q1, q2, qref1, qref2, e1, e2, u1, u2, raw_emg_0, process_emg_0, raw_emg_1, process_emg_1; //will be set by the motor_controller function
MaikOvermars 17:1f93c83e211f 46 double vxmax = 1.0, vymax = 1.0;
SvenD97 27:eee900e0a47d 47 double right_bicep_max = 0.0, right_tricep_max = 0.0, left_bicep_max= 0.0, left_tricep_max = 0.0;
SvenD97 27:eee900e0a47d 48
SvenD97 27:eee900e0a47d 49 // Meaning of process_emg_0 and such
SvenD97 27:eee900e0a47d 50 // - process_emg_0 is right biceps
SvenD97 27:eee900e0a47d 51 // - process_emg_1 is right triceps
SvenD97 27:eee900e0a47d 52 // - process_emg_2 is left biceps
SvenD97 27:eee900e0a47d 53 // - process_emg_3 is left triceps
bjonkheer 23:7d83af123c43 54
MaikOvermars 0:4cb1de41d049 55 int counts_per_rotation = 32;
MaikOvermars 0:4cb1de41d049 56 bool state_changed = false;
SvenD97 8:bba05e863b68 57 const double T = 0.001;
bjonkheer 23:7d83af123c43 58
MaikOvermars 0:4cb1de41d049 59
MaikOvermars 17:1f93c83e211f 60 // Functions
MaikOvermars 0:4cb1de41d049 61 void measure_all()
MaikOvermars 0:4cb1de41d049 62 {
bjonkheer 23:7d83af123c43 63
MaikOvermars 16:0280a604cf7e 64 q1 = motor_1_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation; //do this here, and not in the encoder interrupt, to reduce computational load
MaikOvermars 16:0280a604cf7e 65 q2 = motor_2_encoder.getPulses()*2.0f*3.1415926535f/counts_per_rotation;
SvenD97 14:4744cc6c90f4 66 forwardkinematics_function(q1,q2,x,y); //motor_angle is global, this function ne
MaikOvermars 17:1f93c83e211f 67 raw_emg_0 = emg0.read(); //sample analog voltages (all sampling theory applies, you might get aliasing etc.)
MaikOvermars 17:1f93c83e211f 68 raw_emg_1 = emg1.read();
MaikOvermars 17:1f93c83e211f 69 processing_chain_emg(raw_emg_0, raw_emg_1, process_emg_0, process_emg_1); // processes the emg signals
MaikOvermars 0:4cb1de41d049 70 }
MaikOvermars 0:4cb1de41d049 71
MaikOvermars 0:4cb1de41d049 72 void output_all() {
MaikOvermars 0:4cb1de41d049 73 motor1_pwm = fabs(u1);
MaikOvermars 16:0280a604cf7e 74 motor1_dir = u1 > 0.0f;
MaikOvermars 0:4cb1de41d049 75 motor2_pwm = fabs(u2);
MaikOvermars 16:0280a604cf7e 76 motor2_dir = u2 > 0.0f;
MaikOvermars 0:4cb1de41d049 77 static int output_counter = 0;
MaikOvermars 0:4cb1de41d049 78 output_counter++;
MaikOvermars 0:4cb1de41d049 79 if (output_counter == 100) {pc.printf("Something something... %f",u1); output_counter = 0;} //Print to screen at 10 Hz with MODSERIAL
MaikOvermars 0:4cb1de41d049 80 }
MaikOvermars 0:4cb1de41d049 81
MaikOvermars 0:4cb1de41d049 82 void state_machine() {
MaikOvermars 0:4cb1de41d049 83 switch(current_state) { //States can be: failure, wait, calib_enc, calib_emg, operational, demo,
MaikOvermars 0:4cb1de41d049 84 case waiting: //Nothing useful here, maybe a blinking LED for fun and communication to the user
MaikOvermars 0:4cb1de41d049 85 if (button.read()==true)
MaikOvermars 0:4cb1de41d049 86 {
MaikOvermars 0:4cb1de41d049 87 current_state = calib_enc; //the NEXT loop we will be in calib_enc state
SvenD97 9:8e1112874c12 88 // no state_changed action?
MaikOvermars 0:4cb1de41d049 89 }
MaikOvermars 0:4cb1de41d049 90 break; //to avoid falling through to the next state, although this can sometimes be very useful.
MaikOvermars 0:4cb1de41d049 91
MaikOvermars 0:4cb1de41d049 92 case calib_enc:
MaikOvermars 0:4cb1de41d049 93 if (state_changed==true)
MaikOvermars 0:4cb1de41d049 94 {
MaikOvermars 0:4cb1de41d049 95 state_timer.reset();
MaikOvermars 0:4cb1de41d049 96 state_timer.start();
MaikOvermars 0:4cb1de41d049 97 state_changed = false;
MaikOvermars 0:4cb1de41d049 98 }
bjonkheer 18:ea605c49afee 99 u1 = 0.55f; //a low PWM value to move the motors slowly (0.0 to 0.45 don’t do much due to friction)
MaikOvermars 0:4cb1de41d049 100 // fabs(motor1.velocity()) < 0.1f &&
MaikOvermars 0:4cb1de41d049 101 if (state_timer.read() > 5.0f) {
MaikOvermars 0:4cb1de41d049 102 current_state = calib_emg; //the NEXT loop we will be in calib_emg state
SvenD97 27:eee900e0a47d 103 curent_emg_calibration_state = calib_right_bicep;
MaikOvermars 0:4cb1de41d049 104 state_changed = true;
MaikOvermars 0:4cb1de41d049 105 }
MaikOvermars 0:4cb1de41d049 106 break;
MaikOvermars 0:4cb1de41d049 107
MaikOvermars 0:4cb1de41d049 108 case calib_emg: //calibrate emg-signals
SvenD97 27:eee900e0a47d 109 if (state_changed == true){
SvenD97 27:eee900e0a47d 110 state_timer.reset();
SvenD97 27:eee900e0a47d 111 state_timer.start();
SvenD97 27:eee900e0a47d 112 emg_timer.reset();
SvenD97 27:eee900e0a47d 113 emg_timer.start();
SvenD97 27:eee900e0a47d 114 state_changed = false;
SvenD97 27:eee900e0a47d 115 }
SvenD97 27:eee900e0a47d 116
SvenD97 27:eee900e0a47d 117 // calibrating right bicep
SvenD97 27:eee900e0a47d 118 switch(curent_emg_calibration_state){
SvenD97 27:eee900e0a47d 119 case calib_right_bicep:
SvenD97 27:eee900e0a47d 120 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 121 if (process_emg_0 > right_bicep_max){
SvenD97 27:eee900e0a47d 122 right_bicep_max = process_emg_0;
SvenD97 27:eee900e0a47d 123 }
SvenD97 27:eee900e0a47d 124 }
SvenD97 27:eee900e0a47d 125 else{
SvenD97 27:eee900e0a47d 126 current_emg_calibration_state = calib_right_tricep;
SvenD97 27:eee900e0a47d 127 emg_timer.reset();
SvenD97 27:eee900e0a47d 128 emg_timer.start();
SvenD97 27:eee900e0a47d 129 }
SvenD97 27:eee900e0a47d 130 break;
SvenD97 27:eee900e0a47d 131 case calib_right_tricep:
SvenD97 27:eee900e0a47d 132 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 133 if (process_emg_1 > right_tricep_max){
SvenD97 27:eee900e0a47d 134 right_tricep_max = process_emg_1;
SvenD97 27:eee900e0a47d 135 }
SvenD97 27:eee900e0a47d 136 }
SvenD97 27:eee900e0a47d 137 else{
SvenD97 27:eee900e0a47d 138 current_emg_calibration_state = calib_left_bicep;
SvenD97 27:eee900e0a47d 139 emg_timer.reset();
SvenD97 27:eee900e0a47d 140 emg_timer.start();
SvenD97 27:eee900e0a47d 141 }
SvenD97 27:eee900e0a47d 142 break;
SvenD97 27:eee900e0a47d 143 case calib_left_bicep:
SvenD97 27:eee900e0a47d 144 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 145 if (process_emg_2 > left_bicep_max){
SvenD97 27:eee900e0a47d 146 left_bicep_max = process_emg_2;
SvenD97 27:eee900e0a47d 147 }
SvenD97 27:eee900e0a47d 148 }
SvenD97 27:eee900e0a47d 149 else{
SvenD97 27:eee900e0a47d 150 current_emg_calibration_state = calib_left_tricep;
SvenD97 27:eee900e0a47d 151 emg_timer.reset();
SvenD97 27:eee900e0a47d 152 emg_timer.start();
SvenD97 27:eee900e0a47d 153 }
SvenD97 27:eee900e0a47d 154 break;
SvenD97 27:eee900e0a47d 155 case calib_left_tricep:
SvenD97 27:eee900e0a47d 156 if(emg_timer < 5.0f){
SvenD97 27:eee900e0a47d 157 if (process_emg_3 > left_tricep_max){
SvenD97 27:eee900e0a47d 158 left_tricep_max = process_emg_3;
SvenD97 27:eee900e0a47d 159 }
SvenD97 27:eee900e0a47d 160 }
SvenD97 27:eee900e0a47d 161 else{
SvenD97 27:eee900e0a47d 162 current_emg_calibration_state = not_in_calib_emg;
SvenD97 27:eee900e0a47d 163 current_state = operational;
SvenD97 27:eee900e0a47d 164 state_changed = true;
SvenD97 27:eee900e0a47d 165 emg_timer.reset();
SvenD97 27:eee900e0a47d 166 emg_timer.start();
SvenD97 27:eee900e0a47d 167 }
SvenD97 27:eee900e0a47d 168 break;
SvenD97 27:eee900e0a47d 169 default:
SvenD97 27:eee900e0a47d 170 current_state = failure;
SvenD97 27:eee900e0a47d 171 state_changed = true;
SvenD97 27:eee900e0a47d 172
MaikOvermars 0:4cb1de41d049 173
MaikOvermars 0:4cb1de41d049 174 case operational: //interpreting emg-signals to move the end effector
bjonkheer 23:7d83af123c43 175
MaikOvermars 17:1f93c83e211f 176 // here we have to determine the desired velocity based on the processed emg signals and calibration
MaikOvermars 17:1f93c83e211f 177 if (process_emg_0 >= 0.16) { des_vx = vxmax; }
MaikOvermars 17:1f93c83e211f 178 else if(process_emg_0 >= 0.09) { des_vx = vxmax * 0.66; }
MaikOvermars 17:1f93c83e211f 179 else if(process_emg_0 >= 0.02) { des_vx = vxmax * 0.33; }
MaikOvermars 17:1f93c83e211f 180 else { des_vx = 0; }
MaikOvermars 17:1f93c83e211f 181
MaikOvermars 17:1f93c83e211f 182 if (process_emg_1 >= 0.16) { des_vy = vymax; }
MaikOvermars 17:1f93c83e211f 183 else if(process_emg_1 >= 0.09) { des_vy = vymax * 0.66; }
MaikOvermars 17:1f93c83e211f 184 else if(process_emg_1 >= 0.02) { des_vy = vymax * 0.33; }
MaikOvermars 17:1f93c83e211f 185 else { des_vy = 0; }
MaikOvermars 17:1f93c83e211f 186
MaikOvermars 0:4cb1de41d049 187 if (button.read() == true) { current_state = demo; }
MaikOvermars 0:4cb1de41d049 188
MaikOvermars 0:4cb1de41d049 189 break;
MaikOvermars 0:4cb1de41d049 190
MaikOvermars 0:4cb1de41d049 191 case demo: //moving according to a specified trajectory
MaikOvermars 0:4cb1de41d049 192
MaikOvermars 17:1f93c83e211f 193 if (button.read() == true) { current_state = operational; }
MaikOvermars 0:4cb1de41d049 194
MaikOvermars 0:4cb1de41d049 195 break;
MaikOvermars 0:4cb1de41d049 196
MaikOvermars 0:4cb1de41d049 197 case failure: //no way to get out
MaikOvermars 0:4cb1de41d049 198 u1 = 0.0f;
MaikOvermars 17:1f93c83e211f 199 u2 = 0.0f;
MaikOvermars 0:4cb1de41d049 200 break;
MaikOvermars 0:4cb1de41d049 201 }
MaikOvermars 0:4cb1de41d049 202 }
MaikOvermars 0:4cb1de41d049 203
MaikOvermars 0:4cb1de41d049 204 void motor_controller()
MaikOvermars 0:4cb1de41d049 205 {
MaikOvermars 0:4cb1de41d049 206 if (current_state >= operational) { // we can (ab)use the fact that an enum is actually an integer, so math/logic rules still apply
MaikOvermars 16:0280a604cf7e 207 inversekinematics_function(x,y,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
MaikOvermars 16:0280a604cf7e 208 e1 = qref1 - q1; //tracking error (q_ref - q_meas)
MaikOvermars 16:0280a604cf7e 209 e2 = qref2 - q2;
MaikOvermars 17:1f93c83e211f 210 PID_controller(e1,e2,u1,u2,T); //feedback controller or with possibly fancy controller additions...; pass by reference
MaikOvermars 0:4cb1de41d049 211 } //otherwise we just don’t mess with the value of control variable ‘u’ that is set somewhere in the state-machine.
MaikOvermars 0:4cb1de41d049 212 }
MaikOvermars 0:4cb1de41d049 213
MaikOvermars 0:4cb1de41d049 214
MaikOvermars 0:4cb1de41d049 215 void loop_function() {
MaikOvermars 0:4cb1de41d049 216 measure_all(); //measure all signals
MaikOvermars 0:4cb1de41d049 217 state_machine(); //Do relevant state dependent things
MaikOvermars 0:4cb1de41d049 218 motor_controller(); //Do not put different motor controllers in the states, because every state can re-use the same motor-controller!
MaikOvermars 0:4cb1de41d049 219 output_all(); //Output relevant signals, messages, screen outputs, LEDs etc.
MaikOvermars 0:4cb1de41d049 220 }
MaikOvermars 0:4cb1de41d049 221
MaikOvermars 0:4cb1de41d049 222
MaikOvermars 0:4cb1de41d049 223 int main()
MaikOvermars 0:4cb1de41d049 224 {
MaikOvermars 0:4cb1de41d049 225 pc.baud(115200);
MaikOvermars 0:4cb1de41d049 226 motor1_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 227 motor2_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 228 current_state = waiting; //we start in state ‘waiting’ and current_state can be accessed by all functions
MaikOvermars 0:4cb1de41d049 229 u1 = 0.0f; //initial output to motors is 0.
MaikOvermars 10:7339dca7d604 230 u2 = 0.0f;
MaikOvermars 25:734a26538711 231 bqc0.add(&bq0high).add(&bq0notch); // filter cascade for emg
MaikOvermars 25:734a26538711 232 bqc1.add(&bq1high).add(&bq1notch); // filter cascade for emg
MaikOvermars 17:1f93c83e211f 233 loop_ticker.attach(&loop_function, T); //Run the function loop_function 1000 times per second
MaikOvermars 0:4cb1de41d049 234
MaikOvermars 0:4cb1de41d049 235 while (true) { } //Do nothing here (timing purposes)
MaikOvermars 0:4cb1de41d049 236 }