Biorobotics / Robot-Software_jesse

Dependencies:   HIDScope MODSERIAL QEI biquadFilter mbed

Fork of Robot-Software by Biorobotics

main.cpp@9:8e1112874c12, 2018-10-23 (annotated)

Committer:
SvenD97
Date:
Tue Oct 23 06:04:49 2018 +0000
Revision:
9:8e1112874c12
Parent:
8:bba05e863b68
Child:
11:c8251a1362b7
put a comment at line 70 saying: no state_changed action?

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 0:4cb1de41d049 8
MaikOvermars 0:4cb1de41d049 9 //Define objects
MaikOvermars 0:4cb1de41d049 10 MODSERIAL pc(USBTX, USBRX);
MaikOvermars 0:4cb1de41d049 11 HIDScope scope(2);
MaikOvermars 0:4cb1de41d049 12
MaikOvermars 0:4cb1de41d049 13 AnalogIn emg0( A0 );
MaikOvermars 0:4cb1de41d049 14 AnalogIn emg1( A1 );
MaikOvermars 0:4cb1de41d049 15
MaikOvermars 0:4cb1de41d049 16 PwmOut motor1_pwm(D5);
MaikOvermars 0:4cb1de41d049 17 DigitalOut motor1_dir(D4);
MaikOvermars 0:4cb1de41d049 18 PwmOut motor2_pwm(D7);
MaikOvermars 0:4cb1de41d049 19 DigitalOut motor2_dir(D6);
MaikOvermars 0:4cb1de41d049 20
MaikOvermars 0:4cb1de41d049 21 AnalogIn potmeter1(A2);
MaikOvermars 0:4cb1de41d049 22 AnalogIn potmeter2(A3);
MaikOvermars 0:4cb1de41d049 23 DigitalIn button(D0);
MaikOvermars 0:4cb1de41d049 24
MaikOvermars 0:4cb1de41d049 25 Ticker Sample;
MaikOvermars 0:4cb1de41d049 26 Timer state_timer;
MaikOvermars 0:4cb1de41d049 27
MaikOvermars 0:4cb1de41d049 28 enum States {failure, waiting, calib_enc, calib_emg, operational, demo}; //All possible robot states
MaikOvermars 0:4cb1de41d049 29
MaikOvermars 0:4cb1de41d049 30 //Global variables/objects
MaikOvermars 0:4cb1de41d049 31 States current_state;
MaikOvermars 0:4cb1de41d049 32 Ticker loop_ticker; //The Ticker object that will ensure perfect timing of our looping code
SvenD97 7:b77f2201b156 33 double e, u1, u2, emg_signal_raw_0, processed_emg_0, emg_signal_raw_1, processed_emg_1, robot_end_point, reference_end_point, motor_angle, motor_counts, q_ref; //will be set by the motor_controller function
MaikOvermars 0:4cb1de41d049 34 int counts_per_rotation = 32;
MaikOvermars 0:4cb1de41d049 35 bool state_changed = false;
SvenD97 5:0dd66c757f24 36 double x; // Making the position (x,y) of the end effector global
SvenD97 5:0dd66c757f24 37 double y;
SvenD97 8:bba05e863b68 38 const double T = 0.001;
MaikOvermars 0:4cb1de41d049 39
MaikOvermars 0:4cb1de41d049 40 float processing_chain_emg(int num) {
MaikOvermars 0:4cb1de41d049 41 return 6.0;
MaikOvermars 0:4cb1de41d049 42 }
MaikOvermars 0:4cb1de41d049 43
MaikOvermars 0:4cb1de41d049 44 void measure_all()
MaikOvermars 0:4cb1de41d049 45 {
MaikOvermars 0:4cb1de41d049 46 motor_angle = motor_counts*2.0f*3.1415926535f/counts_per_rotation; //do this here, and not in the encoder interrupt, to reduce computational load
MaikOvermars 0:4cb1de41d049 47 robot_end_point = forwardkinematics_function(motor_angle); //motor_angle is global, this function ne
MaikOvermars 0:4cb1de41d049 48 emg_signal_raw_0 = emg0.read(); //sample analog voltages (all sampling theory applies, you might get aliasing etc.)
MaikOvermars 0:4cb1de41d049 49 emg_signal_raw_1 = emg1.read();
MaikOvermars 0:4cb1de41d049 50 processed_emg_0 = processing_chain_emg(0); // some function ‘float my_emg_processing_chain()’ that returns a float. The raw emg is global
MaikOvermars 0:4cb1de41d049 51 processed_emg_1 = processing_chain_emg(1);
MaikOvermars 0:4cb1de41d049 52 }
MaikOvermars 0:4cb1de41d049 53
MaikOvermars 0:4cb1de41d049 54 void output_all() {
MaikOvermars 0:4cb1de41d049 55 motor1_pwm = fabs(u1);
MaikOvermars 0:4cb1de41d049 56 motor1_dir = u1 > 0.5f;
MaikOvermars 0:4cb1de41d049 57 motor2_pwm = fabs(u2);
MaikOvermars 0:4cb1de41d049 58 motor2_dir = u2 > 0.5f;
MaikOvermars 0:4cb1de41d049 59 static int output_counter = 0;
MaikOvermars 0:4cb1de41d049 60 output_counter++;
MaikOvermars 0:4cb1de41d049 61 if (output_counter == 100) {pc.printf("Something something... %f",u1); output_counter = 0;} //Print to screen at 10 Hz with MODSERIAL
MaikOvermars 0:4cb1de41d049 62 }
MaikOvermars 0:4cb1de41d049 63
MaikOvermars 0:4cb1de41d049 64 void state_machine() {
MaikOvermars 0:4cb1de41d049 65 switch(current_state) { //States can be: failure, wait, calib_enc, calib_emg, operational, demo,
MaikOvermars 0:4cb1de41d049 66 case waiting: //Nothing useful here, maybe a blinking LED for fun and communication to the user
MaikOvermars 0:4cb1de41d049 67 if (button.read()==true)
MaikOvermars 0:4cb1de41d049 68 {
MaikOvermars 0:4cb1de41d049 69 current_state = calib_enc; //the NEXT loop we will be in calib_enc state
SvenD97 9:8e1112874c12 70 // no state_changed action?
MaikOvermars 0:4cb1de41d049 71 }
MaikOvermars 0:4cb1de41d049 72 break; //to avoid falling through to the next state, although this can sometimes be very useful.
MaikOvermars 0:4cb1de41d049 73
MaikOvermars 0:4cb1de41d049 74 case calib_enc:
MaikOvermars 0:4cb1de41d049 75 if (state_changed==true)
MaikOvermars 0:4cb1de41d049 76 {
MaikOvermars 0:4cb1de41d049 77 state_timer.reset();
MaikOvermars 0:4cb1de41d049 78 state_timer.start();
MaikOvermars 0:4cb1de41d049 79 state_changed = false;
MaikOvermars 0:4cb1de41d049 80 }
MaikOvermars 0:4cb1de41d049 81 u1 = 0.6f; //a low PWM value to move the motors slowly (0.0 to 0.45 don’t do much due to friction)
MaikOvermars 0:4cb1de41d049 82 // fabs(motor1.velocity()) < 0.1f &&
MaikOvermars 0:4cb1de41d049 83 if (state_timer.read() > 5.0f) {
MaikOvermars 0:4cb1de41d049 84 current_state = calib_emg; //the NEXT loop we will be in calib_emg state
MaikOvermars 0:4cb1de41d049 85 state_changed = true;
MaikOvermars 0:4cb1de41d049 86 }
MaikOvermars 0:4cb1de41d049 87 break;
MaikOvermars 0:4cb1de41d049 88
MaikOvermars 0:4cb1de41d049 89 case calib_emg: //calibrate emg-signals
MaikOvermars 0:4cb1de41d049 90
MaikOvermars 0:4cb1de41d049 91 break;
MaikOvermars 0:4cb1de41d049 92
MaikOvermars 0:4cb1de41d049 93 case operational: //interpreting emg-signals to move the end effector
MaikOvermars 0:4cb1de41d049 94 if (state_changed==true) { int x = 5; }
MaikOvermars 0:4cb1de41d049 95 // example
MaikOvermars 0:4cb1de41d049 96 reference_end_point = robot_end_point + processed_emg_0;
MaikOvermars 0:4cb1de41d049 97 if (button.read() == true) { current_state = demo; }
MaikOvermars 0:4cb1de41d049 98
MaikOvermars 0:4cb1de41d049 99 break;
MaikOvermars 0:4cb1de41d049 100
MaikOvermars 0:4cb1de41d049 101 case demo: //moving according to a specified trajectory
MaikOvermars 0:4cb1de41d049 102
MaikOvermars 0:4cb1de41d049 103 if (button.read() == true) { current_state = demo; }
MaikOvermars 0:4cb1de41d049 104
MaikOvermars 0:4cb1de41d049 105 break;
MaikOvermars 0:4cb1de41d049 106
MaikOvermars 0:4cb1de41d049 107 case failure: //no way to get out
MaikOvermars 0:4cb1de41d049 108 u1 = 0.0f;
MaikOvermars 0:4cb1de41d049 109 break;
MaikOvermars 0:4cb1de41d049 110 }
MaikOvermars 0:4cb1de41d049 111 }
MaikOvermars 0:4cb1de41d049 112
MaikOvermars 0:4cb1de41d049 113 void motor_controller()
MaikOvermars 0:4cb1de41d049 114 {
MaikOvermars 0:4cb1de41d049 115 if (current_state >= operational) { // we can (ab)use the fact that an enum is actually an integer, so math/logic rules still apply
MaikOvermars 0:4cb1de41d049 116 q_ref = inversekinematics_function(reference_end_point); //many different states can modify your reference position, so just do the inverse kinematics once, here
MaikOvermars 0:4cb1de41d049 117 e = q_ref - motor_angle; //tracking error (q_ref - q_meas)
MaikOvermars 0:4cb1de41d049 118 u1 = PID_controller(e); //feedback controller or with possibly fancy controller additions...;
MaikOvermars 0:4cb1de41d049 119 } //otherwise we just don’t mess with the value of control variable ‘u’ that is set somewhere in the state-machine.
MaikOvermars 0:4cb1de41d049 120 }
MaikOvermars 0:4cb1de41d049 121
MaikOvermars 0:4cb1de41d049 122
MaikOvermars 0:4cb1de41d049 123 void loop_function() {
MaikOvermars 0:4cb1de41d049 124 measure_all(); //measure all signals
MaikOvermars 0:4cb1de41d049 125 state_machine(); //Do relevant state dependent things
MaikOvermars 0:4cb1de41d049 126 motor_controller(); //Do not put different motor controllers in the states, because every state can re-use the same motor-controller!
MaikOvermars 0:4cb1de41d049 127 output_all(); //Output relevant signals, messages, screen outputs, LEDs etc.
MaikOvermars 0:4cb1de41d049 128 }
MaikOvermars 0:4cb1de41d049 129
MaikOvermars 0:4cb1de41d049 130
MaikOvermars 0:4cb1de41d049 131 int main()
MaikOvermars 0:4cb1de41d049 132 {
MaikOvermars 0:4cb1de41d049 133 pc.baud(115200);
MaikOvermars 0:4cb1de41d049 134 motor1_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 135 motor2_pwm.period_us(60);
MaikOvermars 0:4cb1de41d049 136 current_state = waiting; //we start in state ‘waiting’ and current_state can be accessed by all functions
MaikOvermars 0:4cb1de41d049 137 u1 = 0.0f; //initial output to motors is 0.
MaikOvermars 0:4cb1de41d049 138 loop_ticker.attach(&loop_function, 0.001f); //Run the function loop_function 1000 times per second
MaikOvermars 0:4cb1de41d049 139
MaikOvermars 0:4cb1de41d049 140 while (true) { } //Do nothing here (timing purposes)
MaikOvermars 0:4cb1de41d049 141 }