Biorobotics / Robot-Software

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Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed Servo

Changes

RevisionDateWhoCommit message
46:9b60a3c1acab 2018-11-01 Spekdon Presentation code default tip
45:829a3992d689 2018-11-01 Spekdon Working code;
44:25eec278c623 2018-11-01 SvenD97 Changed some things to the coder calibration;
43:8e2ea92fee01 2018-11-01 Spekdon added fk and ik
42:bcd496523c66 2018-10-31 MaikOvermars Merged version. Contains working emg calibration and assigning velocity to emg signal in the operational mode. Instructions for emg calibration in the code.
41:e9d6fdf02074 2018-10-31 MaikOvermars Adjusted processing_chain_emg.h
40:e217056584be 2018-10-31 MaikOvermars adjusted emg calibration and assigning velocities in main file;
39:5db36ce5e620 2018-10-31 MaikOvermars demo mode setup
38:0f824c45f717 2018-10-31 bjonkheer Almost working, don't connect to motors!;
37:5ddfd9e6cdb2 2018-10-31 SvenD97 Not working version;
36:dc0571d14e30 2018-10-31 SvenD97 Got rid of hidscope and modserial stuff;
35:6110d0b5513b 2018-10-30 SvenD97 Made some changes with respect to the motor input u.
34:7d672cd04486 2018-10-30 SvenD97 Fixed the bouncing of the buttons;
33:eb77ed8d167c 2018-10-30 SvenD97 Made changes to homing such that it should work with the controller and made it such that now q1 equals the standard defined angle we agreed upon (after encoder calibration this should be valid);
32:2596cc9156ec 2018-10-29 SvenD97 In last commit I made several changes. One of which was to remove the '=1' at DigitalOut led_R(LED_RED) = 1; as this produced an error. I have now put a similar statement in the main function that does the same
31:393a7ec1d396 2018-10-29 SvenD97 Made changes such that the code compiles
30:7a66951a0122 2018-10-29 SvenD97 Finished base code homing (parameters and values of q1_homing could still be adjusted) and made some adjustments to the code
29:d1e8eb135e6c 2018-10-29 bjonkheer Encoder calibration almost finished;
28:d952367fc0fc 2018-10-29 SvenD97 Merged;
27:eee900e0a47d 2018-10-29 SvenD97 EMG calibration finished;
26:23b0b6fce3a8 2018-10-29 MaikOvermars updated filter pid_controller;
25:734a26538711 2018-10-29 MaikOvermars fixed processing chain to include individual filters for the emg signals
24:53c300d1320e 2018-10-29 bjonkheer Fixed PID
23:7d83af123c43 2018-10-29 bjonkheer Fixed merge
22:31065a83d9e8 2018-10-29 bjonkheer Fixed merge
21:1321ff770f99 2018-10-26 MaikOvermars Adjusted PID_controller. Now calculates both u1 and u2. Code should be working now. bla
20:31876566d70f 2018-10-26 bjonkheer More forward kinematics updates
19:e1e18746d98d 2018-10-26 bjonkheer Updated forward kinematics
18:ea605c49afee 2018-10-26 bjonkheer Corrected u1,u2>0.5f
17:1f93c83e211f 2018-10-25 MaikOvermars Some small bugfixes in kinematics and PID_controller and main. Added the emg processing file. In the main file the processed signals are transformed into velocities. bla
16:0280a604cf7e 2018-10-25 MaikOvermars Fixed some variables and errors in kinematics.h and main.cpp. Now it compiles! bla
15:7d3b138446fa 2018-10-25 SvenD97 Included motor encoder; bla
14:4744cc6c90f4 2018-10-25 SvenD97 Made some changes to measure_all and to kinematics.h. ; kinematics.h: added some more input variables.; measure_all: changed the forwardkinematics part and added the angle calculation using QEI (this last part is not fully working yet); bla
13:397b7c22475c 2018-10-25 SvenD97 Forward and inverse kinematics functions are finished. In the main code only a part has to be added that determines the desired vx and vy.; bla
12:3c47c7b1d1d7 2018-10-23 SvenD97 Added some variables; bla
11:c8251a1362b7 2018-10-23 MaikOvermars merged; bla
10:7339dca7d604 2018-10-23 MaikOvermars some minor stuff;
9:8e1112874c12 2018-10-23 SvenD97 put a comment at line 70 saying: no state_changed action?
8:bba05e863b68 2018-10-23 SvenD97 Made a constant double T global that indicates the time between two calculation loops (needed for inverse kinematics);
7:b77f2201b156 2018-10-23 SvenD97 Changed line 33 from float to double;
6:8ff9566c91e2 2018-10-22 SvenD97 Changed type of forwardkinematics_function
5:0dd66c757f24 2018-10-22 SvenD97 In the main file, i made the position (x,y) of the end effector global. I removed the previous commit
4:88d28354e023 2018-10-22 SvenD97 Put double x,y in forwardkinematics_function;
3:40e0e9404f82 2018-10-22 SvenD97 Changed the output types of the kinematic functions to double;
2:17ed767d8394 2018-10-22 SvenD97 Changed input of forwardkinematics_function to q1 and q2
1:f1b8f0462e2a 2018-10-22 SvenD97 Removed comment from PID_controller.h;
0:4cb1de41d049 2018-10-22 MaikOvermars HEuy