Biorobotics_group_2 / Mbed 2 deprecated CompleteFunction

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Dependencies:   HIDScope biquadFilter mbed MODSERIAL FastPWM QEI

main.cpp@6:00011220b82b, 2016-10-31 (annotated)

Committer:
sjoerdbarts
Date:
Mon Oct 31 10:38:12 2016 +0000
Revision:
6:00011220b82b
Parent:
5:b4a0301ec8cc
Child:
7:bafc32b576c4
Added libraries

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1600907 0:c96cf9760185 1 #include "mbed.h"
s1600907 0:c96cf9760185 2 #include "math.h"
s1600907 1:e1267e72ade8 3 #include "MODSERIAL.h"
sjoerdbarts 6:00011220b82b 4 #include "HIDScope.h"
sjoerdbarts 6:00011220b82b 5 #include "FastPWM.h"
sjoerdbarts 6:00011220b82b 6 #include "QEI.h"
sjoerdbarts 6:00011220b82b 7 #include "BiQuad.h"
sjoerdbarts 6:00011220b82b 8 #define SERIAL_BAUD 115200 // baud rate for serial communication
s1600907 0:c96cf9760185 9
sjoerdbarts 6:00011220b82b 10 // Serial connection
s1600907 1:e1267e72ade8 11 MODSERIAL pc(USBTX,USBRX);
sjoerdbarts 6:00011220b82b 12
s1600907 0:c96cf9760185 13 //EMG aansluitingen
s1600907 0:c96cf9760185 14 AnalogIn emg0( A0 ); //Biceps Rechts
s1600907 2:92593c9d6146 15 AnalogIn emg1( A1 ); //Bicpes Links
s1600907 2:92593c9d6146 16 AnalogIn emg2( A2 ); //Upper leg
sjoerdbarts 6:00011220b82b 17
sjoerdbarts 6:00011220b82b 18 // Potmeter 1 gives the reference position x
sjoerdbarts 6:00011220b82b 19 AnalogIn pot1(A3);
sjoerdbarts 6:00011220b82b 20 // Potmeter 2 gives the reference position y
sjoerdbarts 6:00011220b82b 21 AnalogIn pot2(A4);
sjoerdbarts 6:00011220b82b 22
sjoerdbarts 6:00011220b82b 23 // Setup Buttons
sjoerdbarts 6:00011220b82b 24 InterruptIn button1(PTB9); // button 1
sjoerdbarts 6:00011220b82b 25 InterruptIn button2(PTA1); // button 2
sjoerdbarts 6:00011220b82b 26 InterruptIn button3(PTC6); // SW2
sjoerdbarts 6:00011220b82b 27 InterruptIn button4(PTA4); // SW3
sjoerdbarts 6:00011220b82b 28
sjoerdbarts 6:00011220b82b 29 // Set motor Pinouts
sjoerdbarts 6:00011220b82b 30 DigitalOut motor1_dir(D4);
sjoerdbarts 6:00011220b82b 31 FastPWM motor1_pwm(D5);
sjoerdbarts 6:00011220b82b 32 DigitalOut motor2_dir(D7);
sjoerdbarts 6:00011220b82b 33 FastPWM motor2_pwm(D6);
sjoerdbarts 6:00011220b82b 34
sjoerdbarts 6:00011220b82b 35 // Set LED pins
sjoerdbarts 6:00011220b82b 36 DigitalOut led(LED_RED);
sjoerdbarts 6:00011220b82b 37
sjoerdbarts 6:00011220b82b 38 // Set HID scope
sjoerdbarts 6:00011220b82b 39 HIDScope scope(6);
sjoerdbarts 6:00011220b82b 40
sjoerdbarts 6:00011220b82b 41 // Set encoder
sjoerdbarts 6:00011220b82b 42 QEI m1_EncoderCW(D10,D11,NC,32);
sjoerdbarts 6:00011220b82b 43 QEI m1_EncoderCCW(D11,D10,NC,32);
sjoerdbarts 6:00011220b82b 44 QEI m2_EncoderCW(D13,D12,NC,32);
sjoerdbarts 6:00011220b82b 45 QEI m2_EncoderCCW(D12,D13,NC,32);
s1600907 0:c96cf9760185 46
s1600907 0:c96cf9760185 47 // Tickers
s1600907 0:c96cf9760185 48 Ticker sample_timer;
s1600907 0:c96cf9760185 49 Ticker TickerCalculationsForTheta;
s1600907 0:c96cf9760185 50
s1600907 0:c96cf9760185 51 //BiQuad
s1600907 0:c96cf9760185 52 // making the biquads and chains; imported from matlab
s1600907 0:c96cf9760185 53 BiQuadChain bqc; //Chain for right biceps
s1600907 0:c96cf9760185 54 BiQuadChain bqc2; //Chain for left biceps
s1600907 0:c96cf9760185 55 BiQuadChain bqc3; //Chain for Upper leg
s1600907 0:c96cf9760185 56 // 1 to 3 are for right biceps
s1600907 0:c96cf9760185 57 BiQuad bq1( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 );
s1600907 0:c96cf9760185 58 BiQuad bq2( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );
s1600907 0:c96cf9760185 59 BiQuad bq3( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );
s1600907 0:c96cf9760185 60 // 4 to 6 are for left biceps
s1600907 0:c96cf9760185 61 BiQuad bq4( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 );
s1600907 0:c96cf9760185 62 BiQuad bq5( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );
s1600907 0:c96cf9760185 63 BiQuad bq6( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 );
s1600907 0:c96cf9760185 64 // 7 to 9 are for upper leg
s1600907 0:c96cf9760185 65 BiQuad bq7( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 );
s1600907 0:c96cf9760185 66 BiQuad bq8( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 );
s1600907 0:c96cf9760185 67 BiQuad bq9( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
s1600907 0:c96cf9760185 68
s1600907 1:e1267e72ade8 69
s1600907 0:c96cf9760185 70 // Variabelen voor filter
s1600907 0:c96cf9760185 71 // spier EMG niet boven treshhold
s1600907 0:c96cf9760185 72 volatile bool BicepsLeft = false;
s1600907 0:c96cf9760185 73 volatile bool BicepsRight = false;
s1600907 0:c96cf9760185 74 volatile bool Leg = false;
s1600907 0:c96cf9760185 75
s1600907 0:c96cf9760185 76 // Variabelen voor MotorHoekBerekenen
s1600907 1:e1267e72ade8 77 volatile double x = 0.0; // beginpositie x en y
s1600907 1:e1267e72ade8 78 volatile double y = 305.5;
s1600907 0:c96cf9760185 79 volatile const double pi = 3.14159265359;
s1600907 3:c524afedf863 80 volatile double Theta1Gear = 60.0; // Beginpositie op 60 graden
s1600907 3:c524afedf863 81 volatile double Theta2Gear = 60.0;
s1600907 1:e1267e72ade8 82 volatile double Theta1 = Theta1Gear*42/12; // Beginpositie van MotorHoek
s1600907 1:e1267e72ade8 83 volatile double Theta2 = Theta2Gear*42/12;
s1600907 0:c96cf9760185 84 double Fr_Speed_Theta = 100.0; // frequentie in Hz waarmee theta wordt uigerekend
s1600907 0:c96cf9760185 85 bool Calibration = true; // beginnen met calibreren
s1600907 0:c96cf9760185 86 volatile bool Stepper_State = false; // false = we zijn niet bezig met flippen
s1600907 0:c96cf9760185 87
s1600907 0:c96cf9760185 88 /////////////////////// functies voor filters /////////////////////////////////////////////
s1600907 0:c96cf9760185 89 void sample()
s1600907 0:c96cf9760185 90 {
s1600907 0:c96cf9760185 91 /* Sample function
s1600907 0:c96cf9760185 92 samples the emg0 (of the rightBiceps)
s1600907 0:c96cf9760185 93 samples the emg1 (of the leftBiceps)
s1600907 0:c96cf9760185 94 samples the emg2 (of the Upper leg)
s1600907 0:c96cf9760185 95 filter the singals
s1600907 0:c96cf9760185 96 sends it to HIDScope
s1600907 0:c96cf9760185 97 */
s1600907 0:c96cf9760185 98
s1600907 0:c96cf9760185 99 // Rechts Biceps
s1600907 0:c96cf9760185 100 double inRechts = emg0.read(); // EMG signal
s1600907 0:c96cf9760185 101 double FilterRechts = bqc.step(inRechts); // High pass + Notch (50 HZ)
s1600907 0:c96cf9760185 102 double RectifyRechts = fabs(FilterRechts); // Rectify
s1600907 0:c96cf9760185 103 double outRechts = bq3.step(RectifyRechts); // Low pass
s1600907 2:92593c9d6146 104
s1600907 0:c96cf9760185 105 // Links Biceps
s1600907 0:c96cf9760185 106 double inLinks = emg1.read(); // EMG signal
s1600907 0:c96cf9760185 107 double FilterLinks = bqc2.step(inLinks); // High pass + Notch (50 HZ)
s1600907 0:c96cf9760185 108 double RectifyLinks = fabs(FilterLinks); // Rectify
s1600907 0:c96cf9760185 109 double outLinks = bq6.step(RectifyLinks); // Low pass
s1600907 0:c96cf9760185 110
s1600907 0:c96cf9760185 111 // Upper leg
s1600907 0:c96cf9760185 112 double inBeen = emg2.read(); // EMG signal
s1600907 0:c96cf9760185 113 double FilterBeen = bqc3.step(inBeen); // High pass + Notch (50 HZ)
s1600907 0:c96cf9760185 114 double RectifyBeen = fabs(FilterBeen); // Rectify
s1600907 2:92593c9d6146 115 double outBeen = bq9.step(RectifyBeen); // Low pass
s1600907 0:c96cf9760185 116
s1600907 0:c96cf9760185 117
s1600907 0:c96cf9760185 118 /* EMG signal in channel 0 (the first channel)
s1600907 0:c96cf9760185 119 and the filtered EMG signal in channel 1 (the second channel)
s1600907 0:c96cf9760185 120 of the HIDscope */
s1600907 5:b4a0301ec8cc 121 /*scope.set(0,inRechts);
s1600907 0:c96cf9760185 122 scope.set(1,outRechts);
s1600907 2:92593c9d6146 123 scope.set(2,inLinks);
s1600907 0:c96cf9760185 124 scope.set(3,outLinks);
s1600907 0:c96cf9760185 125 scope.set(4,inBeen);
s1600907 0:c96cf9760185 126 scope.set(5,outBeen);
s1600907 5:b4a0301ec8cc 127 */
s1600907 0:c96cf9760185 128 // To indicate that the function is working, the LED is on
s1600907 1:e1267e72ade8 129 if (outRechts >= 0.04){
s1600907 0:c96cf9760185 130 BicepsRight = true;
s1600907 0:c96cf9760185 131 }
s1600907 0:c96cf9760185 132 else{
s1600907 0:c96cf9760185 133 BicepsRight = false;
s1600907 0:c96cf9760185 134 }
s1600907 2:92593c9d6146 135
s1600907 0:c96cf9760185 136 // If Biceps links is actuated then:
s1600907 1:e1267e72ade8 137 if (outLinks >= 0.04){
s1600907 0:c96cf9760185 138 BicepsLeft = true;
s1600907 0:c96cf9760185 139 }
s1600907 0:c96cf9760185 140 else{
s1600907 0:c96cf9760185 141 BicepsLeft = false;
s1600907 0:c96cf9760185 142 }
s1600907 0:c96cf9760185 143 // If upper leg is actuated then:
s1600907 0:c96cf9760185 144 if (outBeen >= 0.01){
s1600907 0:c96cf9760185 145 Leg = true;
s1600907 0:c96cf9760185 146 }
s1600907 0:c96cf9760185 147 else{
s1600907 0:c96cf9760185 148 Leg = false;
s1600907 0:c96cf9760185 149 }
s1600907 0:c96cf9760185 150 }
s1600907 0:c96cf9760185 151
s1600907 0:c96cf9760185 152 ///////////////////// functies voor motorhoekberekenen //////////////////////////
s1600907 4:05c5da1c8b08 153 // vorige x opslaan
s1600907 0:c96cf9760185 154 double Calc_Prev_x () {
s1600907 0:c96cf9760185 155 double Prev_x = x;
s1600907 0:c96cf9760185 156 //pc.printf("prev x = %f\r\n", Prev_x);
s1600907 0:c96cf9760185 157 return Prev_x;
s1600907 0:c96cf9760185 158 }
s1600907 0:c96cf9760185 159
s1600907 4:05c5da1c8b08 160 // vorige y opslaan
s1600907 0:c96cf9760185 161 double Calc_Prev_y () {
s1600907 0:c96cf9760185 162 double Prev_y = y;
s1600907 0:c96cf9760185 163 //pc.printf("prev y = %f\r\n", Prev_y);
s1600907 0:c96cf9760185 164 return Prev_y;
s1600907 0:c96cf9760185 165 }
s1600907 0:c96cf9760185 166
s1600907 4:05c5da1c8b08 167 // vorige Theta1Gear opslaan
s1600907 4:05c5da1c8b08 168 double Calc_Prev_Theta1_Gear () {
s1600907 4:05c5da1c8b08 169 double Prev_Theta1_Gear = Theta1Gear;
s1600907 4:05c5da1c8b08 170 return Prev_Theta1_Gear;
s1600907 4:05c5da1c8b08 171 }
s1600907 4:05c5da1c8b08 172
s1600907 4:05c5da1c8b08 173 //vorige Theta2Gear opslaan
s1600907 4:05c5da1c8b08 174 double Calc_Prev_Theta2_Gear () {
s1600907 4:05c5da1c8b08 175 double Prev_Theta2_Gear = Theta2Gear;
s1600907 4:05c5da1c8b08 176 return Prev_Theta2_Gear;
s1600907 4:05c5da1c8b08 177 }
s1600907 4:05c5da1c8b08 178
s1600907 2:92593c9d6146 179 void FunctieFlipper(); // declarate function, function discribed below
s1600907 0:c96cf9760185 180 // berekenen van de nieuwe x en y waardes
s1600907 0:c96cf9760185 181 bool CalcXY (bool BicepsLeft, bool BicepsRight, bool Leg, bool Stepper_State) {
s1600907 1:e1267e72ade8 182 double Step = 5/Fr_Speed_Theta ; //10 mm per seconde afleggen
s1600907 0:c96cf9760185 183
s1600907 0:c96cf9760185 184 if (BicepsLeft==true && BicepsRight==true && Leg==true && Stepper_State==false) {
s1600907 0:c96cf9760185 185 Stepper_State = true; // we zijn aan het flipper dus geen andere dingen doen
s1600907 2:92593c9d6146 186 FunctieFlipper() ;
s1600907 0:c96cf9760185 187 }
s1600907 0:c96cf9760185 188 else if (BicepsLeft==true && BicepsRight==false && Leg==false && Stepper_State==false) {
s1600907 0:c96cf9760185 189 x = x - Step;
s1600907 0:c96cf9760185 190 }
s1600907 0:c96cf9760185 191 else if (BicepsLeft==false && BicepsRight==true && Leg==false && Stepper_State==false) {
s1600907 0:c96cf9760185 192 x = x + Step; // naar Right bewegen
s1600907 0:c96cf9760185 193 }
s1600907 0:c96cf9760185 194 else if (BicepsLeft==true && BicepsRight==true && Leg==false && Stepper_State==false) {
s1600907 0:c96cf9760185 195 y = y + Step; // naar voren bewegen
s1600907 0:c96cf9760185 196 }
s1600907 0:c96cf9760185 197 else if (BicepsLeft==false && BicepsRight==true && Leg==true && Stepper_State==false) {
s1600907 0:c96cf9760185 198 y = y - Step; // naar achter bewegen
s1600907 0:c96cf9760185 199 }
s1600907 0:c96cf9760185 200 else if (BicepsLeft==false && BicepsRight==false && Leg==false || Stepper_State==true) {
s1600907 0:c96cf9760185 201 }
s1600907 0:c96cf9760185 202
s1600907 0:c96cf9760185 203 // Grenswaardes LET OP: ARMEN MISSCHIEN GEBLOKKEERD DOOR BALK AAN DE BINNENKANT
s1600907 0:c96cf9760185 204 if (x > 200) {
s1600907 0:c96cf9760185 205 x = 200;
s1600907 0:c96cf9760185 206 }
s1600907 0:c96cf9760185 207 else if (x < -200) {
s1600907 0:c96cf9760185 208 x = -200;
s1600907 0:c96cf9760185 209 }
s1600907 0:c96cf9760185 210 if (y > 306) {
s1600907 0:c96cf9760185 211 y = 306;
s1600907 0:c96cf9760185 212 }
s1600907 0:c96cf9760185 213 else if (y < 50) {
s1600907 0:c96cf9760185 214 y = 50; // GOKJE, UITPROBEREN
s1600907 0:c96cf9760185 215 }
s1600907 5:b4a0301ec8cc 216 //pc.printf("x = %f, y = %f\r\n", x, y);
s1600907 1:e1267e72ade8 217
s1600907 2:92593c9d6146 218 //scope.set(2,x);
s1600907 2:92593c9d6146 219 //scope.set(3,y);
s1600907 0:c96cf9760185 220
s1600907 0:c96cf9760185 221 return Stepper_State;
s1600907 0:c96cf9760185 222 }
s1600907 0:c96cf9760185 223
s1600907 0:c96cf9760185 224 // diagonaal berekenen voor linker arm
s1600907 0:c96cf9760185 225 double CalcDia1 (double x, double y) {
s1600907 0:c96cf9760185 226 double a = 50.0; // de afstand van gekozen assenstelsel tot de armas (assenstelsel precies in het midden) KEERTJE NAMETEN
s1600907 0:c96cf9760185 227 double BV1 = sqrt(pow((a+x),2) + pow(y,2)); // diagonaal (afstand van armas tot locatie) berekenen
s1600907 0:c96cf9760185 228 double Dia1 = pow(BV1,2)/(2*BV1); // berekenen van de afstand oorsprong tot diagonaal
s1600907 0:c96cf9760185 229
s1600907 0:c96cf9760185 230 //pc.printf("dia = %f, x = %f, y= %f\r\n", Dia1, x, y);
s1600907 0:c96cf9760185 231 return Dia1;
s1600907 0:c96cf9760185 232 }
s1600907 0:c96cf9760185 233
s1600907 0:c96cf9760185 234 // diagonaal berekenen voor rechter arm
s1600907 0:c96cf9760185 235 double CalcDia2 (double x, double y) {
s1600907 0:c96cf9760185 236 double a = 50.0;
s1600907 0:c96cf9760185 237 double BV2 = sqrt(pow((x-a),2) + pow(y,2)); // zelfde nog een keer doen maar nu voor de rechter arm
s1600907 0:c96cf9760185 238 double Dia2 = pow(BV2,2)/(2*BV2);
s1600907 0:c96cf9760185 239
s1600907 0:c96cf9760185 240 //pc.printf("dia = %f, x = %f, y= %f\r\n", Dia2, x, y);
s1600907 0:c96cf9760185 241 return Dia2;
s1600907 0:c96cf9760185 242 }
s1600907 0:c96cf9760185 243
s1600907 0:c96cf9760185 244 // calculate Theta1
s1600907 4:05c5da1c8b08 245 void CalcTheta1 (double Dia1) {
s1600907 0:c96cf9760185 246 double a = 50.0;
s1600907 0:c96cf9760185 247 double Bar = 200.0; // lengte van de armen
s1600907 0:c96cf9760185 248
s1600907 0:c96cf9760185 249 // Hoek berekenen van het grote tandwiel (gear)
s1600907 0:c96cf9760185 250 if (x > -a) {
s1600907 0:c96cf9760185 251 Theta1Gear = pi - atan(y/(x+a)) - acos(Dia1/Bar);
s1600907 0:c96cf9760185 252 }
s1600907 0:c96cf9760185 253 else if (x > -a) {
s1600907 0:c96cf9760185 254 Theta1Gear = pi - (pi + atan(y/(x+a))) - acos(Dia1/Bar);
s1600907 0:c96cf9760185 255 }
s1600907 0:c96cf9760185 256 else { // als x=-a
s1600907 0:c96cf9760185 257 Theta1Gear = 0.5*pi - acos(Dia1/Bar);
s1600907 0:c96cf9760185 258 }
s1600907 3:c524afedf863 259 Theta1Gear = Theta1Gear*180.0/pi; // veranderen van radialen naar graden
s1600907 0:c96cf9760185 260
s1600907 0:c96cf9760185 261 // omrekenen van grote tandwiel naar motortandwiel
s1600907 0:c96cf9760185 262 Theta1 = Theta1Gear*42.0/12.0; // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12.
s1600907 0:c96cf9760185 263
s1600907 5:b4a0301ec8cc 264 pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta1, Theta1Gear);
s1600907 0:c96cf9760185 265 }
s1600907 0:c96cf9760185 266
s1600907 4:05c5da1c8b08 267 void CalcTheta2 (double Dia2) {
s1600907 0:c96cf9760185 268 double a = 50.0;
s1600907 0:c96cf9760185 269 double Bar = 200.0; // lengte van de armen
s1600907 0:c96cf9760185 270 double Prev_Theta2_Gear = Theta2Gear;
s1600907 4:05c5da1c8b08 271
s1600907 0:c96cf9760185 272 // Hoek berekenen van het grote tandwiel (gear)
s1600907 0:c96cf9760185 273 if (x < a) {
s1600907 0:c96cf9760185 274 Theta2Gear = pi + atan(y/(x-a)) - acos(Dia2/Bar);
s1600907 0:c96cf9760185 275 }
s1600907 0:c96cf9760185 276 else if (x > a) {
s1600907 0:c96cf9760185 277 Theta2Gear = pi - (pi - atan(y/(x-a))) - acos(Dia2/Bar);
s1600907 0:c96cf9760185 278 }
s1600907 0:c96cf9760185 279 else { // als x=a
s1600907 0:c96cf9760185 280 Theta2Gear = 0.5*pi - acos(Dia2/Bar);
s1600907 0:c96cf9760185 281 }
s1600907 3:c524afedf863 282 Theta2Gear = Theta2Gear*180/pi; // veranderen van radialen naar graden
s1600907 0:c96cf9760185 283
s1600907 4:05c5da1c8b08 284 // omrekenen van grote tandwiel naar motortandwiel
s1600907 4:05c5da1c8b08 285 Theta2 = Theta2Gear*42.0/12.0; // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12.
s1600907 4:05c5da1c8b08 286
s1600907 5:b4a0301ec8cc 287 pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
s1600907 4:05c5da1c8b08 288 }
s1600907 4:05c5da1c8b08 289
s1600907 4:05c5da1c8b08 290 // als een van de hoeken te groot wordt, zet dan alles terug naar de vorige positie
s1600907 4:05c5da1c8b08 291 void AngleLimits (double Prev_Theta1_Gear, double Prev_Theta2_Gear, double Prev_x, double Prev_y) {
s1600907 4:05c5da1c8b08 292 double MaxThetaGear = 100.0; // de hoek voordat arm het opstakel raakt (max hoek is 107.62 tussen arm en opstakel, maken er 100 van voor veiligheid)
s1600907 4:05c5da1c8b08 293
s1600907 4:05c5da1c8b08 294 if (Theta1Gear >= MaxThetaGear || Theta2Gear >= MaxThetaGear) {
s1600907 4:05c5da1c8b08 295 Theta1Gear = Prev_Theta1_Gear;
s1600907 0:c96cf9760185 296 Theta2Gear = Prev_Theta2_Gear;
s1600907 0:c96cf9760185 297 x = Prev_x;
s1600907 0:c96cf9760185 298 y = Prev_y;
s1600907 4:05c5da1c8b08 299
s1600907 4:05c5da1c8b08 300 Theta1 = Theta1Gear*42.0/12.0;
s1600907 4:05c5da1c8b08 301 Theta2 = Theta2Gear*42.0/12.0;
s1600907 0:c96cf9760185 302 }
s1600907 5:b4a0301ec8cc 303 pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear);
s1600907 0:c96cf9760185 304 }
s1600907 0:c96cf9760185 305
s1600907 0:c96cf9760185 306 void CalculationsForTheta () {
s1600907 1:e1267e72ade8 307 sample();
s1600907 0:c96cf9760185 308 double Prev_x = Calc_Prev_x ();
s1600907 0:c96cf9760185 309 double Prev_y = Calc_Prev_y ();
s1600907 4:05c5da1c8b08 310 double Calc_Prev_Theta1_Gear ();
s1600907 4:05c5da1c8b08 311 double Calc_Prev_Theta2_Gear ();
s1600907 0:c96cf9760185 312 bool Stepper_State = CalcXY (BicepsLeft, BicepsRight, Leg, Stepper_State);
s1600907 0:c96cf9760185 313 double Dia1 = CalcDia1 (x, y);
s1600907 0:c96cf9760185 314 double Dia2 = CalcDia2 (x, y);
s1600907 4:05c5da1c8b08 315 CalcTheta1 (Dia1);
s1600907 4:05c5da1c8b08 316 CalcTheta2 (Dia2);
s1600907 4:05c5da1c8b08 317 AngleLimits (Theta1Gear, Theta2Gear, Prev_x, Prev_y);
s1600907 2:92593c9d6146 318
s1600907 5:b4a0301ec8cc 319 //scope.send();
s1600907 0:c96cf9760185 320 }
s1600907 0:c96cf9760185 321
s1600907 0:c96cf9760185 322 // als de button ingedrukt wordt dan stoppen we met calibreren
s1600907 0:c96cf9760185 323 void EndCalibration () {
s1600907 0:c96cf9760185 324 Calibration = false;
s1600907 0:c96cf9760185 325 }
s1600907 0:c96cf9760185 326
s1600907 2:92593c9d6146 327 //////////////// functies voor aansturing motoren ///////////////////////////////
s1600907 2:92593c9d6146 328 void FunctieFlipper () {
s1600907 2:92593c9d6146 329 Stepper_State = false;
s1600907 1:e1267e72ade8 330 }
s1600907 0:c96cf9760185 331
s1600907 0:c96cf9760185 332 ////////////////////////// main loop ////////////////////////////////////////////
s1600907 0:c96cf9760185 333 int main()
s1600907 0:c96cf9760185 334 {
s1600907 0:c96cf9760185 335 pc.baud(SERIAL_BAUD);
s1600907 0:c96cf9760185 336 pc.printf("\r\n Nieuwe code uitproberen :) \r\n");
s1600907 0:c96cf9760185 337
s1600907 0:c96cf9760185 338 /* making the biquad chain for filtering the emg
s1600907 0:c96cf9760185 339 notch and high pass */
s1600907 0:c96cf9760185 340 bqc.add( &bq1 ).add( &bq2 );
s1600907 0:c96cf9760185 341 bqc2.add( &bq4 ).add( &bq5 );
s1600907 0:c96cf9760185 342 bqc3.add( &bq7 ).add( &bq8 );
s1600907 0:c96cf9760185 343
s1600907 0:c96cf9760185 344 // Calibreren
s1600907 0:c96cf9760185 345 while (Calibration == true) {
s1600907 1:e1267e72ade8 346 //potmeter dingen aanpassen
s1600907 0:c96cf9760185 347
s1600907 0:c96cf9760185 348 pc.printf("calibreren is bezig\r\n");
sjoerdbarts 6:00011220b82b 349 button1.fall(&EndCalibration);
s1600907 0:c96cf9760185 350 }
s1600907 0:c96cf9760185 351
s1600907 0:c96cf9760185 352 /**Attach the 'sample' function to the timer 'sample_timer'.
s1600907 0:c96cf9760185 353 * this ensures that 'sample' is executed every 0.002 seconds = 500 Hz
s1600907 0:c96cf9760185 354 */
s1600907 1:e1267e72ade8 355 // sample_timer.attach(&sample, 0.002);
s1600907 2:92593c9d6146 356
s1600907 0:c96cf9760185 357 // ticker voor hoek berekenen aanzetten
s1600907 5:b4a0301ec8cc 358 TickerCalculationsForTheta.attach(&CalculationsForTheta,1); //0.002
s1600907 2:92593c9d6146 359
s1600907 0:c96cf9760185 360 //empty loop, sample() is executed periodically
s1600907 1:e1267e72ade8 361 while(1) {
s1600907 1:e1267e72ade8 362
s1600907 1:e1267e72ade8 363 }
s1600907 0:c96cf9760185 364 }