Alle subfiles samengevoegd
Dependencies: HIDScope biquadFilter mbed MODSERIAL FastPWM QEI
main.cpp@15:e9439eac1342, 2016-11-01 (annotated)
- Committer:
- sjoerdbarts
- Date:
- Tue Nov 01 08:56:40 2016 +0000
- Revision:
- 15:e9439eac1342
- Parent:
- 14:f114e57c3795
- Child:
- 16:f9f2a0365224
Changed EMG values
Who changed what in which revision?
User | Revision | Line number | New 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 | 12:9b0451105991 | 18 | // Setup Potmeters |
sjoerdbarts | 6:00011220b82b | 19 | // Potmeter 1 gives the reference position x |
sjoerdbarts | 6:00011220b82b | 20 | AnalogIn pot1(A3); |
sjoerdbarts | 6:00011220b82b | 21 | // Potmeter 2 gives the reference position y |
sjoerdbarts | 6:00011220b82b | 22 | AnalogIn pot2(A4); |
sjoerdbarts | 6:00011220b82b | 23 | |
sjoerdbarts | 6:00011220b82b | 24 | // Setup Buttons |
sjoerdbarts | 6:00011220b82b | 25 | InterruptIn button1(PTB9); // button 1 |
sjoerdbarts | 6:00011220b82b | 26 | InterruptIn button2(PTA1); // button 2 |
sjoerdbarts | 6:00011220b82b | 27 | InterruptIn button3(PTC6); // SW2 |
sjoerdbarts | 6:00011220b82b | 28 | InterruptIn button4(PTA4); // SW3 |
sjoerdbarts | 6:00011220b82b | 29 | |
sjoerdbarts | 8:676646c50aeb | 30 | // Setup botton values |
sjoerdbarts | 8:676646c50aeb | 31 | bool button1_value = false; |
sjoerdbarts | 8:676646c50aeb | 32 | bool button2_value = false; |
sjoerdbarts | 8:676646c50aeb | 33 | |
sjoerdbarts | 6:00011220b82b | 34 | // Set motor Pinouts |
sjoerdbarts | 6:00011220b82b | 35 | DigitalOut motor1_dir(D4); |
sjoerdbarts | 6:00011220b82b | 36 | FastPWM motor1_pwm(D5); |
sjoerdbarts | 6:00011220b82b | 37 | DigitalOut motor2_dir(D7); |
sjoerdbarts | 6:00011220b82b | 38 | FastPWM motor2_pwm(D6); |
sjoerdbarts | 6:00011220b82b | 39 | |
sjoerdbarts | 6:00011220b82b | 40 | // Set LED pins |
sjoerdbarts | 13:e8b8b035abbd | 41 | DigitalOut led(PTE24); // D15 LED1 |
sjoerdbarts | 12:9b0451105991 | 42 | DigitalOut red(LED_RED); |
sjoerdbarts | 12:9b0451105991 | 43 | DigitalOut blue(LED_BLUE); |
sjoerdbarts | 12:9b0451105991 | 44 | DigitalOut green(LED_GREEN); |
sjoerdbarts | 6:00011220b82b | 45 | |
sjoerdbarts | 6:00011220b82b | 46 | // Set HID scope |
sjoerdbarts | 6:00011220b82b | 47 | HIDScope scope(6); |
sjoerdbarts | 6:00011220b82b | 48 | |
sjoerdbarts | 6:00011220b82b | 49 | // Set encoder |
sjoerdbarts | 6:00011220b82b | 50 | QEI m1_EncoderCW(D10,D11,NC,32); |
sjoerdbarts | 6:00011220b82b | 51 | QEI m1_EncoderCCW(D11,D10,NC,32); |
sjoerdbarts | 6:00011220b82b | 52 | QEI m2_EncoderCW(D13,D12,NC,32); |
sjoerdbarts | 6:00011220b82b | 53 | QEI m2_EncoderCCW(D12,D13,NC,32); |
s1600907 | 0:c96cf9760185 | 54 | |
sjoerdbarts | 7:bafc32b576c4 | 55 | // Constants for control |
sjoerdbarts | 7:bafc32b576c4 | 56 | volatile const int COUNTS_PER_REV = 8400; |
sjoerdbarts | 8:676646c50aeb | 57 | volatile const double DEGREES_PER_PULSE = 8400 / 360; |
sjoerdbarts | 7:bafc32b576c4 | 58 | |
sjoerdbarts | 7:bafc32b576c4 | 59 | // Set initial Kp and Ki |
sjoerdbarts | 7:bafc32b576c4 | 60 | volatile double Kp = 0.01; // last known good Kp: 0.01 |
sjoerdbarts | 8:676646c50aeb | 61 | volatile double Ki = 0.0025; // last known good Ki: 0.0025 |
sjoerdbarts | 7:bafc32b576c4 | 62 | volatile double Kd = 0.0; // last known good Kd: 0.0 |
sjoerdbarts | 7:bafc32b576c4 | 63 | |
sjoerdbarts | 8:676646c50aeb | 64 | // Set frequencies for sampling, calc and control. |
sjoerdbarts | 8:676646c50aeb | 65 | volatile const double SAMPLE_F = 500; // 500 Hz |
sjoerdbarts | 8:676646c50aeb | 66 | volatile const double SAMPLE_TS = 1.0/SAMPLE_F; |
sjoerdbarts | 12:9b0451105991 | 67 | volatile const double CALC_F = 500.0; // 100 Hz |
sjoerdbarts | 8:676646c50aeb | 68 | volatile const double CALC_TS = 1.0/CALC_F; |
sjoerdbarts | 8:676646c50aeb | 69 | volatile const double CONTROLLER_TS = 0.01; // 100 Hz |
sjoerdbarts | 8:676646c50aeb | 70 | |
sjoerdbarts | 7:bafc32b576c4 | 71 | volatile double Ts = 0.01; |
sjoerdbarts | 7:bafc32b576c4 | 72 | volatile double N = 100; |
sjoerdbarts | 7:bafc32b576c4 | 73 | |
sjoerdbarts | 7:bafc32b576c4 | 74 | // Memory values for controllers |
sjoerdbarts | 7:bafc32b576c4 | 75 | double m1_v1 = 0, m1_v2 = 0; |
sjoerdbarts | 7:bafc32b576c4 | 76 | double m2_v1 = 0, m2_v2 = 0; |
s1600907 | 0:c96cf9760185 | 77 | |
s1600907 | 0:c96cf9760185 | 78 | //BiQuad |
s1600907 | 0:c96cf9760185 | 79 | // making the biquads and chains; imported from matlab |
s1600907 | 0:c96cf9760185 | 80 | BiQuadChain bqc; //Chain for right biceps |
s1600907 | 0:c96cf9760185 | 81 | BiQuadChain bqc2; //Chain for left biceps |
s1600907 | 0:c96cf9760185 | 82 | BiQuadChain bqc3; //Chain for Upper leg |
s1600907 | 0:c96cf9760185 | 83 | // 1 to 3 are for right biceps |
s1600907 | 0:c96cf9760185 | 84 | BiQuad bq1( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 ); |
s1600907 | 0:c96cf9760185 | 85 | BiQuad bq2( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); |
s1600907 | 0:c96cf9760185 | 86 | BiQuad bq3( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 ); |
s1600907 | 0:c96cf9760185 | 87 | // 4 to 6 are for left biceps |
s1600907 | 0:c96cf9760185 | 88 | BiQuad bq4( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 ); |
s1600907 | 0:c96cf9760185 | 89 | BiQuad bq5( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); |
s1600907 | 0:c96cf9760185 | 90 | BiQuad bq6( 8.76555e-05, 1.75311e-04, 8.76555e-05, -1.97334e+00, 9.73695e-01 ); |
s1600907 | 0:c96cf9760185 | 91 | // 7 to 9 are for upper leg |
s1600907 | 0:c96cf9760185 | 92 | BiQuad bq7( 9.14969e-01, -1.82994e+00, 9.14969e-01, -1.82269e+00, 8.37182e-01 ); |
s1600907 | 0:c96cf9760185 | 93 | BiQuad bq8( 9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01 ); |
s1600907 | 0:c96cf9760185 | 94 | BiQuad bq9( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
s1600907 | 0:c96cf9760185 | 95 | |
sjoerdbarts | 7:bafc32b576c4 | 96 | // Variables for filter |
sjoerdbarts | 7:bafc32b576c4 | 97 | // muscle EMG < treshhold |
s1600907 | 0:c96cf9760185 | 98 | volatile bool BicepsLeft = false; |
s1600907 | 0:c96cf9760185 | 99 | volatile bool BicepsRight = false; |
s1600907 | 0:c96cf9760185 | 100 | volatile bool Leg = false; |
s1600907 | 0:c96cf9760185 | 101 | |
sjoerdbarts | 7:bafc32b576c4 | 102 | // Variables for MotorHoekBerekenen (MotorAngleCalculation) |
s1600907 | 1:e1267e72ade8 | 103 | volatile double x = 0.0; // beginpositie x en y |
s1600907 | 1:e1267e72ade8 | 104 | volatile double y = 305.5; |
s1600907 | 0:c96cf9760185 | 105 | volatile const double pi = 3.14159265359; |
sjoerdbarts | 10:4bd8ec9e79ff | 106 | volatile double Speed = 10; // Speed with which x and y are changed, in mm/s |
sjoerdbarts | 10:4bd8ec9e79ff | 107 | volatile double Theta1Gear = 60.0; // Beginpositie op 60 graden |
s1600907 | 3:c524afedf863 | 108 | volatile double Theta2Gear = 60.0; |
s1600907 | 1:e1267e72ade8 | 109 | volatile double Theta1 = Theta1Gear*42/12; // Beginpositie van MotorHoek |
s1600907 | 1:e1267e72ade8 | 110 | volatile double Theta2 = Theta2Gear*42/12; |
sjoerdbarts | 8:676646c50aeb | 111 | |
sjoerdbarts | 10:4bd8ec9e79ff | 112 | // Stepper motor setup |
sjoerdbarts | 10:4bd8ec9e79ff | 113 | // Set constans |
sjoerdbarts | 10:4bd8ec9e79ff | 114 | volatile int stepmode = 16; // step mode |
sjoerdbarts | 10:4bd8ec9e79ff | 115 | volatile int steps = 150*stepmode; // amount of steps for 90 degree rotation = 50, full step mode: 1.8 degree per step. |
sjoerdbarts | 10:4bd8ec9e79ff | 116 | volatile int i = 0; |
sjoerdbarts | 10:4bd8ec9e79ff | 117 | volatile bool Stepper_CCW = false; |
sjoerdbarts | 10:4bd8ec9e79ff | 118 | |
sjoerdbarts | 11:417193f23342 | 119 | // Setup stepper motor pins |
sjoerdbarts | 12:9b0451105991 | 120 | // DigitalOut pinMode(PTD2); //D11 NOW USES 3.3V OUPUT, SINCE THIS IS ALWAYS ON |
sjoerdbarts | 13:e8b8b035abbd | 121 | DigitalOut pinSleep(PTE25); //D14 |
sjoerdbarts | 11:417193f23342 | 122 | DigitalOut pinStep(PTC4); //D9 |
sjoerdbarts | 11:417193f23342 | 123 | DigitalOut pinDir(PTC12); //D8 |
sjoerdbarts | 11:417193f23342 | 124 | |
sjoerdbarts | 11:417193f23342 | 125 | // Control of the stepper motor with 1 Ticker and 1 Timeout |
sjoerdbarts | 11:417193f23342 | 126 | Ticker TickerStepper; |
sjoerdbarts | 11:417193f23342 | 127 | Timeout TimeoutStepper; |
sjoerdbarts | 11:417193f23342 | 128 | |
sjoerdbarts | 10:4bd8ec9e79ff | 129 | // Global variable Step_State |
s1600907 | 0:c96cf9760185 | 130 | volatile bool Stepper_State = false; // false = we zijn niet bezig met flippen |
sjoerdbarts | 10:4bd8ec9e79ff | 131 | |
sjoerdbarts | 13:e8b8b035abbd | 132 | // Setup Tickers |
sjoerdbarts | 13:e8b8b035abbd | 133 | Ticker CalculationsTicker; |
sjoerdbarts | 13:e8b8b035abbd | 134 | Ticker BlinkLedTicker; |
sjoerdbarts | 13:e8b8b035abbd | 135 | Ticker PIDControlTicker; |
sjoerdbarts | 13:e8b8b035abbd | 136 | Ticker PotControlTicker; |
sjoerdbarts | 13:e8b8b035abbd | 137 | |
sjoerdbarts | 10:4bd8ec9e79ff | 138 | /////////////////////// Functtions for stepper motor ///////////////////////////////////// |
sjoerdbarts | 10:4bd8ec9e79ff | 139 | // Set the Step pin to 0 |
sjoerdbarts | 10:4bd8ec9e79ff | 140 | void StepperFall() |
sjoerdbarts | 10:4bd8ec9e79ff | 141 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 142 | pinStep = 0; |
sjoerdbarts | 10:4bd8ec9e79ff | 143 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 144 | // Turn off stepper and power off driver board. Reset Stepper_CCS, i and Stepper_State |
sjoerdbarts | 10:4bd8ec9e79ff | 145 | void Stepper_Off() |
sjoerdbarts | 10:4bd8ec9e79ff | 146 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 147 | TickerStepper.detach(); |
sjoerdbarts | 10:4bd8ec9e79ff | 148 | pinSleep = 0; |
sjoerdbarts | 10:4bd8ec9e79ff | 149 | i=0; |
sjoerdbarts | 10:4bd8ec9e79ff | 150 | Stepper_State = false; |
sjoerdbarts | 10:4bd8ec9e79ff | 151 | Stepper_CCW = false; |
sjoerdbarts | 10:4bd8ec9e79ff | 152 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 153 | |
sjoerdbarts | 10:4bd8ec9e79ff | 154 | // Change direction |
sjoerdbarts | 10:4bd8ec9e79ff | 155 | void Stepper_Change_Dir() |
sjoerdbarts | 10:4bd8ec9e79ff | 156 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 157 | pinDir = true; |
sjoerdbarts | 10:4bd8ec9e79ff | 158 | Stepper_CCW = true; |
sjoerdbarts | 10:4bd8ec9e79ff | 159 | i = 0; |
sjoerdbarts | 10:4bd8ec9e79ff | 160 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 161 | |
sjoerdbarts | 10:4bd8ec9e79ff | 162 | // Move the motor 1 step |
sjoerdbarts | 10:4bd8ec9e79ff | 163 | void StepperRise() |
sjoerdbarts | 10:4bd8ec9e79ff | 164 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 165 | if((i<steps)&&(not Stepper_CCW)) |
sjoerdbarts | 10:4bd8ec9e79ff | 166 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 167 | pinStep=1; // Set stepper to 1 |
sjoerdbarts | 10:4bd8ec9e79ff | 168 | // attach timeout to set it back to 0, min step duration is 1.8 us |
sjoerdbarts | 10:4bd8ec9e79ff | 169 | TimeoutStepper.attach_us(&StepperFall, 2); |
sjoerdbarts | 10:4bd8ec9e79ff | 170 | i=i+1; |
sjoerdbarts | 10:4bd8ec9e79ff | 171 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 172 | else if (Stepper_CCW) |
sjoerdbarts | 10:4bd8ec9e79ff | 173 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 174 | if(i<steps) |
sjoerdbarts | 10:4bd8ec9e79ff | 175 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 176 | pinStep=1; |
sjoerdbarts | 10:4bd8ec9e79ff | 177 | TimeoutStepper.attach_us(&StepperFall, 2); |
sjoerdbarts | 10:4bd8ec9e79ff | 178 | i=i+1; |
sjoerdbarts | 10:4bd8ec9e79ff | 179 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 180 | else |
sjoerdbarts | 10:4bd8ec9e79ff | 181 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 182 | Stepper_Off(); |
sjoerdbarts | 10:4bd8ec9e79ff | 183 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 184 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 185 | else |
sjoerdbarts | 10:4bd8ec9e79ff | 186 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 187 | Stepper_Change_Dir(); |
sjoerdbarts | 10:4bd8ec9e79ff | 188 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 189 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 190 | |
sjoerdbarts | 10:4bd8ec9e79ff | 191 | // Activate the stepper motor |
sjoerdbarts | 10:4bd8ec9e79ff | 192 | // at a constant speed |
sjoerdbarts | 10:4bd8ec9e79ff | 193 | void Stepper_On() |
sjoerdbarts | 10:4bd8ec9e79ff | 194 | { |
sjoerdbarts | 13:e8b8b035abbd | 195 | if (Stepper_State == false) |
sjoerdbarts | 13:e8b8b035abbd | 196 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 197 | // Set global variable to true |
sjoerdbarts | 10:4bd8ec9e79ff | 198 | Stepper_State = true; |
sjoerdbarts | 10:4bd8ec9e79ff | 199 | // Power on the board and set direction to CW |
sjoerdbarts | 10:4bd8ec9e79ff | 200 | pinSleep = 1; |
sjoerdbarts | 10:4bd8ec9e79ff | 201 | pinDir = false; |
sjoerdbarts | 10:4bd8ec9e79ff | 202 | // Calc the speed of the stepper |
sjoerdbarts | 10:4bd8ec9e79ff | 203 | int nPPS = 50*stepmode; // was 1200, this controlls the speed, keep this times the step mode |
sjoerdbarts | 11:417193f23342 | 204 | double fFrequency_Hz = 1.f * nPPS; |
sjoerdbarts | 11:417193f23342 | 205 | double fPeriod_s = 1.0f / fFrequency_Hz; |
sjoerdbarts | 10:4bd8ec9e79ff | 206 | // Check if the speed is too fast small and report back if that is the case |
sjoerdbarts | 10:4bd8ec9e79ff | 207 | if (fPeriod_s < 2e-6) |
sjoerdbarts | 10:4bd8ec9e79ff | 208 | { |
sjoerdbarts | 10:4bd8ec9e79ff | 209 | pc.printf("\r\n ERROR: fPeriod_s too small \r\n"); |
sjoerdbarts | 10:4bd8ec9e79ff | 210 | fPeriod_s=2e-6; |
sjoerdbarts | 10:4bd8ec9e79ff | 211 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 212 | |
sjoerdbarts | 10:4bd8ec9e79ff | 213 | TickerStepper.attach(&StepperRise, // void(*fptr)(void) |
sjoerdbarts | 10:4bd8ec9e79ff | 214 | fPeriod_s // float t |
sjoerdbarts | 10:4bd8ec9e79ff | 215 | ); |
sjoerdbarts | 13:e8b8b035abbd | 216 | } |
sjoerdbarts | 10:4bd8ec9e79ff | 217 | } |
s1600907 | 0:c96cf9760185 | 218 | |
sjoerdbarts | 7:bafc32b576c4 | 219 | /////////////////////// functions for filters ///////////////////////////////////////////// |
s1600907 | 0:c96cf9760185 | 220 | void sample() |
s1600907 | 0:c96cf9760185 | 221 | { |
s1600907 | 0:c96cf9760185 | 222 | /* Sample function |
s1600907 | 0:c96cf9760185 | 223 | samples the emg0 (of the rightBiceps) |
s1600907 | 0:c96cf9760185 | 224 | samples the emg1 (of the leftBiceps) |
s1600907 | 0:c96cf9760185 | 225 | samples the emg2 (of the Upper leg) |
s1600907 | 0:c96cf9760185 | 226 | filter the singals |
s1600907 | 0:c96cf9760185 | 227 | sends it to HIDScope |
s1600907 | 0:c96cf9760185 | 228 | */ |
s1600907 | 0:c96cf9760185 | 229 | |
s1600907 | 0:c96cf9760185 | 230 | // Rechts Biceps |
s1600907 | 0:c96cf9760185 | 231 | double inRechts = emg0.read(); // EMG signal |
s1600907 | 0:c96cf9760185 | 232 | double FilterRechts = bqc.step(inRechts); // High pass + Notch (50 HZ) |
s1600907 | 0:c96cf9760185 | 233 | double RectifyRechts = fabs(FilterRechts); // Rectify |
s1600907 | 0:c96cf9760185 | 234 | double outRechts = bq3.step(RectifyRechts); // Low pass |
s1600907 | 2:92593c9d6146 | 235 | |
s1600907 | 0:c96cf9760185 | 236 | // Links Biceps |
s1600907 | 0:c96cf9760185 | 237 | double inLinks = emg1.read(); // EMG signal |
s1600907 | 0:c96cf9760185 | 238 | double FilterLinks = bqc2.step(inLinks); // High pass + Notch (50 HZ) |
s1600907 | 0:c96cf9760185 | 239 | double RectifyLinks = fabs(FilterLinks); // Rectify |
s1600907 | 0:c96cf9760185 | 240 | double outLinks = bq6.step(RectifyLinks); // Low pass |
s1600907 | 0:c96cf9760185 | 241 | |
s1600907 | 0:c96cf9760185 | 242 | // Upper leg |
s1600907 | 0:c96cf9760185 | 243 | double inBeen = emg2.read(); // EMG signal |
s1600907 | 0:c96cf9760185 | 244 | double FilterBeen = bqc3.step(inBeen); // High pass + Notch (50 HZ) |
s1600907 | 0:c96cf9760185 | 245 | double RectifyBeen = fabs(FilterBeen); // Rectify |
s1600907 | 2:92593c9d6146 | 246 | double outBeen = bq9.step(RectifyBeen); // Low pass |
s1600907 | 0:c96cf9760185 | 247 | |
s1600907 | 0:c96cf9760185 | 248 | |
s1600907 | 0:c96cf9760185 | 249 | /* EMG signal in channel 0 (the first channel) |
s1600907 | 0:c96cf9760185 | 250 | and the filtered EMG signal in channel 1 (the second channel) |
s1600907 | 0:c96cf9760185 | 251 | of the HIDscope */ |
s1600907 | 5:b4a0301ec8cc | 252 | /*scope.set(0,inRechts); |
s1600907 | 0:c96cf9760185 | 253 | scope.set(1,outRechts); |
s1600907 | 2:92593c9d6146 | 254 | scope.set(2,inLinks); |
s1600907 | 0:c96cf9760185 | 255 | scope.set(3,outLinks); |
s1600907 | 0:c96cf9760185 | 256 | scope.set(4,inBeen); |
s1600907 | 0:c96cf9760185 | 257 | scope.set(5,outBeen); |
s1600907 | 5:b4a0301ec8cc | 258 | */ |
s1600907 | 0:c96cf9760185 | 259 | // To indicate that the function is working, the LED is on |
sjoerdbarts | 15:e9439eac1342 | 260 | if (outRechts >= 0.03){ |
s1600907 | 0:c96cf9760185 | 261 | BicepsRight = true; |
sjoerdbarts | 14:f114e57c3795 | 262 | red = 0; |
s1600907 | 0:c96cf9760185 | 263 | } |
s1600907 | 0:c96cf9760185 | 264 | else{ |
s1600907 | 0:c96cf9760185 | 265 | BicepsRight = false; |
sjoerdbarts | 14:f114e57c3795 | 266 | red = 1; |
s1600907 | 0:c96cf9760185 | 267 | } |
s1600907 | 2:92593c9d6146 | 268 | |
s1600907 | 0:c96cf9760185 | 269 | // If Biceps links is actuated then: |
sjoerdbarts | 15:e9439eac1342 | 270 | if (outLinks >= 0.03){ |
s1600907 | 0:c96cf9760185 | 271 | BicepsLeft = true; |
sjoerdbarts | 14:f114e57c3795 | 272 | blue = 0; |
s1600907 | 0:c96cf9760185 | 273 | } |
s1600907 | 0:c96cf9760185 | 274 | else{ |
s1600907 | 0:c96cf9760185 | 275 | BicepsLeft = false; |
sjoerdbarts | 14:f114e57c3795 | 276 | blue = 1; |
s1600907 | 0:c96cf9760185 | 277 | } |
s1600907 | 0:c96cf9760185 | 278 | // If upper leg is actuated then: |
sjoerdbarts | 15:e9439eac1342 | 279 | if (outBeen >= 0.02){ |
s1600907 | 0:c96cf9760185 | 280 | Leg = true; |
sjoerdbarts | 14:f114e57c3795 | 281 | green = 0; |
s1600907 | 0:c96cf9760185 | 282 | } |
s1600907 | 0:c96cf9760185 | 283 | else{ |
s1600907 | 0:c96cf9760185 | 284 | Leg = false; |
sjoerdbarts | 14:f114e57c3795 | 285 | green = 1; |
s1600907 | 0:c96cf9760185 | 286 | } |
s1600907 | 0:c96cf9760185 | 287 | } |
s1600907 | 0:c96cf9760185 | 288 | |
sjoerdbarts | 7:bafc32b576c4 | 289 | ///////////////////// functions for "motorhoekberekenen" ////////////////////////// |
sjoerdbarts | 7:bafc32b576c4 | 290 | // save previous x |
s1600907 | 0:c96cf9760185 | 291 | double Calc_Prev_x () { |
s1600907 | 0:c96cf9760185 | 292 | double Prev_x = x; |
s1600907 | 0:c96cf9760185 | 293 | //pc.printf("prev x = %f\r\n", Prev_x); |
s1600907 | 0:c96cf9760185 | 294 | return Prev_x; |
s1600907 | 0:c96cf9760185 | 295 | } |
s1600907 | 0:c96cf9760185 | 296 | |
sjoerdbarts | 7:bafc32b576c4 | 297 | // save previous y |
s1600907 | 0:c96cf9760185 | 298 | double Calc_Prev_y () { |
s1600907 | 0:c96cf9760185 | 299 | double Prev_y = y; |
s1600907 | 0:c96cf9760185 | 300 | //pc.printf("prev y = %f\r\n", Prev_y); |
s1600907 | 0:c96cf9760185 | 301 | return Prev_y; |
s1600907 | 0:c96cf9760185 | 302 | } |
s1600907 | 0:c96cf9760185 | 303 | |
sjoerdbarts | 7:bafc32b576c4 | 304 | // save previous Theta1Gear |
s1600907 | 4:05c5da1c8b08 | 305 | double Calc_Prev_Theta1_Gear () { |
s1600907 | 4:05c5da1c8b08 | 306 | double Prev_Theta1_Gear = Theta1Gear; |
s1600907 | 4:05c5da1c8b08 | 307 | return Prev_Theta1_Gear; |
s1600907 | 4:05c5da1c8b08 | 308 | } |
s1600907 | 4:05c5da1c8b08 | 309 | |
sjoerdbarts | 7:bafc32b576c4 | 310 | // save previous Theta2Gear |
s1600907 | 4:05c5da1c8b08 | 311 | double Calc_Prev_Theta2_Gear () { |
s1600907 | 4:05c5da1c8b08 | 312 | double Prev_Theta2_Gear = Theta2Gear; |
s1600907 | 4:05c5da1c8b08 | 313 | return Prev_Theta2_Gear; |
s1600907 | 4:05c5da1c8b08 | 314 | } |
s1600907 | 4:05c5da1c8b08 | 315 | |
sjoerdbarts | 8:676646c50aeb | 316 | void CalcXY () |
sjoerdbarts | 7:bafc32b576c4 | 317 | { |
sjoerdbarts | 8:676646c50aeb | 318 | // calc steps in mm |
sjoerdbarts | 8:676646c50aeb | 319 | double Step = Speed/CALC_F ; //10 mm per seconde afleggen |
s1600907 | 0:c96cf9760185 | 320 | |
s1600907 | 0:c96cf9760185 | 321 | if (BicepsLeft==true && BicepsRight==true && Leg==true && Stepper_State==false) { |
sjoerdbarts | 11:417193f23342 | 322 | Stepper_On(); |
s1600907 | 0:c96cf9760185 | 323 | } |
s1600907 | 0:c96cf9760185 | 324 | else if (BicepsLeft==true && BicepsRight==false && Leg==false && Stepper_State==false) { |
s1600907 | 0:c96cf9760185 | 325 | x = x - Step; |
s1600907 | 0:c96cf9760185 | 326 | } |
s1600907 | 0:c96cf9760185 | 327 | else if (BicepsLeft==false && BicepsRight==true && Leg==false && Stepper_State==false) { |
s1600907 | 0:c96cf9760185 | 328 | x = x + Step; // naar Right bewegen |
s1600907 | 0:c96cf9760185 | 329 | } |
s1600907 | 0:c96cf9760185 | 330 | else if (BicepsLeft==true && BicepsRight==true && Leg==false && Stepper_State==false) { |
s1600907 | 0:c96cf9760185 | 331 | y = y + Step; // naar voren bewegen |
s1600907 | 0:c96cf9760185 | 332 | } |
s1600907 | 0:c96cf9760185 | 333 | else if (BicepsLeft==false && BicepsRight==true && Leg==true && Stepper_State==false) { |
s1600907 | 0:c96cf9760185 | 334 | y = y - Step; // naar achter bewegen |
s1600907 | 0:c96cf9760185 | 335 | } |
s1600907 | 0:c96cf9760185 | 336 | else if (BicepsLeft==false && BicepsRight==false && Leg==false || Stepper_State==true) { |
s1600907 | 0:c96cf9760185 | 337 | } |
s1600907 | 0:c96cf9760185 | 338 | |
s1600907 | 0:c96cf9760185 | 339 | // Grenswaardes LET OP: ARMEN MISSCHIEN GEBLOKKEERD DOOR BALK AAN DE BINNENKANT |
s1600907 | 0:c96cf9760185 | 340 | if (x > 200) { |
s1600907 | 0:c96cf9760185 | 341 | x = 200; |
s1600907 | 0:c96cf9760185 | 342 | } |
s1600907 | 0:c96cf9760185 | 343 | else if (x < -200) { |
s1600907 | 0:c96cf9760185 | 344 | x = -200; |
s1600907 | 0:c96cf9760185 | 345 | } |
s1600907 | 0:c96cf9760185 | 346 | if (y > 306) { |
s1600907 | 0:c96cf9760185 | 347 | y = 306; |
s1600907 | 0:c96cf9760185 | 348 | } |
s1600907 | 0:c96cf9760185 | 349 | else if (y < 50) { |
s1600907 | 0:c96cf9760185 | 350 | y = 50; // GOKJE, UITPROBEREN |
s1600907 | 0:c96cf9760185 | 351 | } |
s1600907 | 5:b4a0301ec8cc | 352 | //pc.printf("x = %f, y = %f\r\n", x, y); |
s1600907 | 1:e1267e72ade8 | 353 | |
s1600907 | 2:92593c9d6146 | 354 | //scope.set(2,x); |
s1600907 | 2:92593c9d6146 | 355 | //scope.set(3,y); |
s1600907 | 0:c96cf9760185 | 356 | } |
s1600907 | 0:c96cf9760185 | 357 | |
s1600907 | 0:c96cf9760185 | 358 | // diagonaal berekenen voor linker arm |
s1600907 | 0:c96cf9760185 | 359 | double CalcDia1 (double x, double y) { |
s1600907 | 0:c96cf9760185 | 360 | double a = 50.0; // de afstand van gekozen assenstelsel tot de armas (assenstelsel precies in het midden) KEERTJE NAMETEN |
s1600907 | 0:c96cf9760185 | 361 | double BV1 = sqrt(pow((a+x),2) + pow(y,2)); // diagonaal (afstand van armas tot locatie) berekenen |
s1600907 | 0:c96cf9760185 | 362 | double Dia1 = pow(BV1,2)/(2*BV1); // berekenen van de afstand oorsprong tot diagonaal |
s1600907 | 0:c96cf9760185 | 363 | |
s1600907 | 0:c96cf9760185 | 364 | //pc.printf("dia = %f, x = %f, y= %f\r\n", Dia1, x, y); |
s1600907 | 0:c96cf9760185 | 365 | return Dia1; |
s1600907 | 0:c96cf9760185 | 366 | } |
s1600907 | 0:c96cf9760185 | 367 | |
s1600907 | 0:c96cf9760185 | 368 | // diagonaal berekenen voor rechter arm |
s1600907 | 0:c96cf9760185 | 369 | double CalcDia2 (double x, double y) { |
s1600907 | 0:c96cf9760185 | 370 | double a = 50.0; |
s1600907 | 0:c96cf9760185 | 371 | double BV2 = sqrt(pow((x-a),2) + pow(y,2)); // zelfde nog een keer doen maar nu voor de rechter arm |
s1600907 | 0:c96cf9760185 | 372 | double Dia2 = pow(BV2,2)/(2*BV2); |
s1600907 | 0:c96cf9760185 | 373 | |
s1600907 | 0:c96cf9760185 | 374 | //pc.printf("dia = %f, x = %f, y= %f\r\n", Dia2, x, y); |
s1600907 | 0:c96cf9760185 | 375 | return Dia2; |
s1600907 | 0:c96cf9760185 | 376 | } |
s1600907 | 0:c96cf9760185 | 377 | |
s1600907 | 0:c96cf9760185 | 378 | // calculate Theta1 |
s1600907 | 4:05c5da1c8b08 | 379 | void CalcTheta1 (double Dia1) { |
s1600907 | 0:c96cf9760185 | 380 | double a = 50.0; |
s1600907 | 0:c96cf9760185 | 381 | double Bar = 200.0; // lengte van de armen |
s1600907 | 0:c96cf9760185 | 382 | |
s1600907 | 0:c96cf9760185 | 383 | // Hoek berekenen van het grote tandwiel (gear) |
s1600907 | 0:c96cf9760185 | 384 | if (x > -a) { |
s1600907 | 0:c96cf9760185 | 385 | Theta1Gear = pi - atan(y/(x+a)) - acos(Dia1/Bar); |
s1600907 | 0:c96cf9760185 | 386 | } |
s1600907 | 0:c96cf9760185 | 387 | else if (x > -a) { |
s1600907 | 0:c96cf9760185 | 388 | Theta1Gear = pi - (pi + atan(y/(x+a))) - acos(Dia1/Bar); |
s1600907 | 0:c96cf9760185 | 389 | } |
s1600907 | 0:c96cf9760185 | 390 | else { // als x=-a |
s1600907 | 0:c96cf9760185 | 391 | Theta1Gear = 0.5*pi - acos(Dia1/Bar); |
s1600907 | 0:c96cf9760185 | 392 | } |
s1600907 | 3:c524afedf863 | 393 | Theta1Gear = Theta1Gear*180.0/pi; // veranderen van radialen naar graden |
s1600907 | 0:c96cf9760185 | 394 | |
s1600907 | 0:c96cf9760185 | 395 | // omrekenen van grote tandwiel naar motortandwiel |
s1600907 | 0:c96cf9760185 | 396 | Theta1 = Theta1Gear*42.0/12.0; // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12. |
s1600907 | 0:c96cf9760185 | 397 | |
s1600907 | 5:b4a0301ec8cc | 398 | pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta1, Theta1Gear); |
s1600907 | 0:c96cf9760185 | 399 | } |
s1600907 | 0:c96cf9760185 | 400 | |
s1600907 | 4:05c5da1c8b08 | 401 | void CalcTheta2 (double Dia2) { |
s1600907 | 0:c96cf9760185 | 402 | double a = 50.0; |
s1600907 | 0:c96cf9760185 | 403 | double Bar = 200.0; // lengte van de armen |
s1600907 | 0:c96cf9760185 | 404 | double Prev_Theta2_Gear = Theta2Gear; |
s1600907 | 4:05c5da1c8b08 | 405 | |
s1600907 | 0:c96cf9760185 | 406 | // Hoek berekenen van het grote tandwiel (gear) |
s1600907 | 0:c96cf9760185 | 407 | if (x < a) { |
s1600907 | 0:c96cf9760185 | 408 | Theta2Gear = pi + atan(y/(x-a)) - acos(Dia2/Bar); |
s1600907 | 0:c96cf9760185 | 409 | } |
s1600907 | 0:c96cf9760185 | 410 | else if (x > a) { |
s1600907 | 0:c96cf9760185 | 411 | Theta2Gear = pi - (pi - atan(y/(x-a))) - acos(Dia2/Bar); |
s1600907 | 0:c96cf9760185 | 412 | } |
s1600907 | 0:c96cf9760185 | 413 | else { // als x=a |
s1600907 | 0:c96cf9760185 | 414 | Theta2Gear = 0.5*pi - acos(Dia2/Bar); |
s1600907 | 0:c96cf9760185 | 415 | } |
s1600907 | 3:c524afedf863 | 416 | Theta2Gear = Theta2Gear*180/pi; // veranderen van radialen naar graden |
s1600907 | 0:c96cf9760185 | 417 | |
s1600907 | 4:05c5da1c8b08 | 418 | // omrekenen van grote tandwiel naar motortandwiel |
s1600907 | 4:05c5da1c8b08 | 419 | Theta2 = Theta2Gear*42.0/12.0; // grote tandwiel heeft 42 tanden. Motortandwiel heeft er 12. |
s1600907 | 4:05c5da1c8b08 | 420 | |
s1600907 | 5:b4a0301ec8cc | 421 | pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear); |
s1600907 | 4:05c5da1c8b08 | 422 | } |
s1600907 | 4:05c5da1c8b08 | 423 | |
s1600907 | 4:05c5da1c8b08 | 424 | // als een van de hoeken te groot wordt, zet dan alles terug naar de vorige positie |
s1600907 | 4:05c5da1c8b08 | 425 | void AngleLimits (double Prev_Theta1_Gear, double Prev_Theta2_Gear, double Prev_x, double Prev_y) { |
s1600907 | 4:05c5da1c8b08 | 426 | 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 | 427 | |
s1600907 | 4:05c5da1c8b08 | 428 | if (Theta1Gear >= MaxThetaGear || Theta2Gear >= MaxThetaGear) { |
s1600907 | 4:05c5da1c8b08 | 429 | Theta1Gear = Prev_Theta1_Gear; |
s1600907 | 0:c96cf9760185 | 430 | Theta2Gear = Prev_Theta2_Gear; |
s1600907 | 0:c96cf9760185 | 431 | x = Prev_x; |
s1600907 | 0:c96cf9760185 | 432 | y = Prev_y; |
s1600907 | 4:05c5da1c8b08 | 433 | |
s1600907 | 4:05c5da1c8b08 | 434 | Theta1 = Theta1Gear*42.0/12.0; |
s1600907 | 4:05c5da1c8b08 | 435 | Theta2 = Theta2Gear*42.0/12.0; |
s1600907 | 0:c96cf9760185 | 436 | } |
s1600907 | 5:b4a0301ec8cc | 437 | pc.printf("thetaMotor = %f, thetaGear = %f\r\n", Theta2, Theta2Gear); |
s1600907 | 0:c96cf9760185 | 438 | } |
s1600907 | 0:c96cf9760185 | 439 | |
s1600907 | 0:c96cf9760185 | 440 | void CalculationsForTheta () { |
sjoerdbarts | 12:9b0451105991 | 441 | sample(); |
s1600907 | 0:c96cf9760185 | 442 | double Prev_x = Calc_Prev_x (); |
s1600907 | 0:c96cf9760185 | 443 | double Prev_y = Calc_Prev_y (); |
sjoerdbarts | 8:676646c50aeb | 444 | double Prev_Theta1_Gear = Calc_Prev_Theta1_Gear (); |
sjoerdbarts | 8:676646c50aeb | 445 | double Prev_Theta2_Gear = Calc_Prev_Theta2_Gear (); |
sjoerdbarts | 8:676646c50aeb | 446 | CalcXY(); |
s1600907 | 0:c96cf9760185 | 447 | double Dia1 = CalcDia1 (x, y); |
s1600907 | 0:c96cf9760185 | 448 | double Dia2 = CalcDia2 (x, y); |
s1600907 | 4:05c5da1c8b08 | 449 | CalcTheta1 (Dia1); |
sjoerdbarts | 8:676646c50aeb | 450 | CalcTheta2 (Dia2); |
sjoerdbarts | 8:676646c50aeb | 451 | AngleLimits (Prev_Theta1_Gear, Prev_Theta2_Gear, Prev_x, Prev_y); // laatste check |
s1600907 | 0:c96cf9760185 | 452 | } |
s1600907 | 0:c96cf9760185 | 453 | |
sjoerdbarts | 8:676646c50aeb | 454 | ////////////////////////// Code for control ///////////////////////////////////// |
sjoerdbarts | 8:676646c50aeb | 455 | |
sjoerdbarts | 8:676646c50aeb | 456 | double m1_GetPosition() |
sjoerdbarts | 8:676646c50aeb | 457 | { |
sjoerdbarts | 8:676646c50aeb | 458 | int countsCW = m1_EncoderCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 459 | int countsCCW= m1_EncoderCCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 460 | int net_counts=countsCW-countsCCW; |
sjoerdbarts | 8:676646c50aeb | 461 | double Position=(net_counts*360.0)/COUNTS_PER_REV; |
sjoerdbarts | 8:676646c50aeb | 462 | return Position; |
sjoerdbarts | 8:676646c50aeb | 463 | } |
sjoerdbarts | 8:676646c50aeb | 464 | |
sjoerdbarts | 8:676646c50aeb | 465 | double m2_GetPosition() |
sjoerdbarts | 8:676646c50aeb | 466 | { |
sjoerdbarts | 8:676646c50aeb | 467 | int countsCW = m2_EncoderCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 468 | int countsCCW= m2_EncoderCCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 469 | int net_counts=countsCW-countsCCW; |
sjoerdbarts | 8:676646c50aeb | 470 | double Position=(net_counts*360.0)/COUNTS_PER_REV; |
sjoerdbarts | 8:676646c50aeb | 471 | return Position; |
sjoerdbarts | 8:676646c50aeb | 472 | } |
sjoerdbarts | 8:676646c50aeb | 473 | |
sjoerdbarts | 8:676646c50aeb | 474 | // Position control when calibrating |
sjoerdbarts | 8:676646c50aeb | 475 | double m1_GetPosition_cal() |
sjoerdbarts | 8:676646c50aeb | 476 | { |
sjoerdbarts | 8:676646c50aeb | 477 | int countsCW = m1_EncoderCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 478 | int countsCCW= m1_EncoderCCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 479 | int net_counts=countsCW-countsCCW; |
sjoerdbarts | 8:676646c50aeb | 480 | double Position=(net_counts*360.0)/COUNTS_PER_REV+210.0f; // calibrated position is 210 degrees |
sjoerdbarts | 8:676646c50aeb | 481 | return Position; |
sjoerdbarts | 8:676646c50aeb | 482 | } |
sjoerdbarts | 8:676646c50aeb | 483 | |
sjoerdbarts | 8:676646c50aeb | 484 | // Position control when calibrating |
sjoerdbarts | 8:676646c50aeb | 485 | double m2_GetPosition_cal() |
sjoerdbarts | 8:676646c50aeb | 486 | { |
sjoerdbarts | 8:676646c50aeb | 487 | int countsCW = m2_EncoderCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 488 | int countsCCW= m2_EncoderCCW.getPulses(); |
sjoerdbarts | 8:676646c50aeb | 489 | int net_counts=countsCW-countsCCW; |
sjoerdbarts | 8:676646c50aeb | 490 | double Position=(net_counts*360.0)/COUNTS_PER_REV+210.0f; // calibrated position is 210 degrees |
sjoerdbarts | 8:676646c50aeb | 491 | return Position; |
sjoerdbarts | 8:676646c50aeb | 492 | } |
sjoerdbarts | 8:676646c50aeb | 493 | double m1_PID(double error, const double Kp, const double Ki, const double Kd, const double Ts, const double N, double &m1_v1, double &m1_v2) |
sjoerdbarts | 8:676646c50aeb | 494 | { |
sjoerdbarts | 8:676646c50aeb | 495 | double a1 = -4/(N*Ts+2), |
sjoerdbarts | 8:676646c50aeb | 496 | a2 = -1*(N*Ts - 2)/(N*Ts+2), |
sjoerdbarts | 8:676646c50aeb | 497 | b0 = (4*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4), |
sjoerdbarts | 8:676646c50aeb | 498 | b1 = (Ki*N*pow(Ts,2) - 4*Kp - 4*Kd*N)/(N*Ts + 2), |
sjoerdbarts | 8:676646c50aeb | 499 | b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4); |
sjoerdbarts | 8:676646c50aeb | 500 | |
sjoerdbarts | 8:676646c50aeb | 501 | double v = error - a1*m1_v1 - a2*m1_v2; |
sjoerdbarts | 8:676646c50aeb | 502 | double u = b0*v + b1*m1_v1 + b2*m1_v2; |
sjoerdbarts | 8:676646c50aeb | 503 | m1_v2 = m1_v1; m1_v1 = v; |
sjoerdbarts | 8:676646c50aeb | 504 | return u; |
sjoerdbarts | 8:676646c50aeb | 505 | } |
sjoerdbarts | 8:676646c50aeb | 506 | |
sjoerdbarts | 8:676646c50aeb | 507 | double m2_PID(double error, const double Kp, const double Ki, const double Kd, const double Ts, const double N, double &m2_v1, double &m2_v2) |
sjoerdbarts | 8:676646c50aeb | 508 | { |
sjoerdbarts | 8:676646c50aeb | 509 | double a1 = -4/(N*Ts+2), |
sjoerdbarts | 8:676646c50aeb | 510 | a2 = -1*(N*Ts - 2)/(N*Ts+2), |
sjoerdbarts | 8:676646c50aeb | 511 | b0 = (4*Kp + 4*Kd*N + 2*Ki*Ts + 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4), |
sjoerdbarts | 8:676646c50aeb | 512 | b1 = (Ki*N*pow(Ts,2) - 4*Kp - 4*Kd*N)/(N*Ts + 2), |
sjoerdbarts | 8:676646c50aeb | 513 | b2 = (4*Kp + 4*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*pow(Ts,2))/(2*N*Ts + 4); |
sjoerdbarts | 8:676646c50aeb | 514 | |
sjoerdbarts | 8:676646c50aeb | 515 | double v = error - a1*m1_v1 - a2*m1_v2; |
sjoerdbarts | 8:676646c50aeb | 516 | double u = b0*v + b1*m1_v1 + b2*m1_v2; |
sjoerdbarts | 8:676646c50aeb | 517 | m1_v2 = m1_v1; m1_v1 = v; |
sjoerdbarts | 8:676646c50aeb | 518 | return u; |
sjoerdbarts | 8:676646c50aeb | 519 | } |
sjoerdbarts | 8:676646c50aeb | 520 | |
sjoerdbarts | 8:676646c50aeb | 521 | |
s1600907 | 0:c96cf9760185 | 522 | |
sjoerdbarts | 8:676646c50aeb | 523 | void SetMotor(int motor_number, double MotorValue) |
sjoerdbarts | 8:676646c50aeb | 524 | { |
sjoerdbarts | 8:676646c50aeb | 525 | // Given -1<=motorValue<=1, this sets the PWM and direction |
sjoerdbarts | 8:676646c50aeb | 526 | // bits for motor 1. Positive value makes motor rotating |
sjoerdbarts | 8:676646c50aeb | 527 | // clockwise. motorValues outside range are truncated to |
sjoerdbarts | 8:676646c50aeb | 528 | // within range |
sjoerdbarts | 8:676646c50aeb | 529 | if (motor_number == 1) |
sjoerdbarts | 8:676646c50aeb | 530 | { |
sjoerdbarts | 8:676646c50aeb | 531 | if (MotorValue >=0) |
sjoerdbarts | 8:676646c50aeb | 532 | { |
sjoerdbarts | 8:676646c50aeb | 533 | motor1_dir=0; |
sjoerdbarts | 8:676646c50aeb | 534 | } |
sjoerdbarts | 8:676646c50aeb | 535 | else |
sjoerdbarts | 8:676646c50aeb | 536 | { |
sjoerdbarts | 8:676646c50aeb | 537 | motor1_dir=1; |
sjoerdbarts | 8:676646c50aeb | 538 | } |
sjoerdbarts | 8:676646c50aeb | 539 | if (fabs(MotorValue)>1){ |
sjoerdbarts | 8:676646c50aeb | 540 | motor1_pwm.write(1); |
sjoerdbarts | 8:676646c50aeb | 541 | } |
sjoerdbarts | 8:676646c50aeb | 542 | else |
sjoerdbarts | 8:676646c50aeb | 543 | { |
sjoerdbarts | 8:676646c50aeb | 544 | motor1_pwm.write(abs(MotorValue)); |
sjoerdbarts | 8:676646c50aeb | 545 | } |
sjoerdbarts | 8:676646c50aeb | 546 | } |
sjoerdbarts | 8:676646c50aeb | 547 | else |
sjoerdbarts | 8:676646c50aeb | 548 | { |
sjoerdbarts | 8:676646c50aeb | 549 | if (MotorValue >=0) |
sjoerdbarts | 8:676646c50aeb | 550 | { |
sjoerdbarts | 8:676646c50aeb | 551 | motor2_dir=0; |
sjoerdbarts | 8:676646c50aeb | 552 | } |
sjoerdbarts | 8:676646c50aeb | 553 | else |
sjoerdbarts | 8:676646c50aeb | 554 | { |
sjoerdbarts | 8:676646c50aeb | 555 | motor2_dir=1; |
sjoerdbarts | 8:676646c50aeb | 556 | } |
sjoerdbarts | 8:676646c50aeb | 557 | if (fabs(MotorValue)>1){ |
sjoerdbarts | 8:676646c50aeb | 558 | motor2_pwm.write(1); |
sjoerdbarts | 8:676646c50aeb | 559 | } |
sjoerdbarts | 8:676646c50aeb | 560 | else |
sjoerdbarts | 8:676646c50aeb | 561 | { |
sjoerdbarts | 8:676646c50aeb | 562 | motor2_pwm.write(abs(MotorValue)); |
sjoerdbarts | 8:676646c50aeb | 563 | } |
sjoerdbarts | 8:676646c50aeb | 564 | } |
sjoerdbarts | 8:676646c50aeb | 565 | } |
sjoerdbarts | 8:676646c50aeb | 566 | |
sjoerdbarts | 8:676646c50aeb | 567 | void BlinkLed(){ |
sjoerdbarts | 8:676646c50aeb | 568 | led = not led; |
sjoerdbarts | 8:676646c50aeb | 569 | } |
sjoerdbarts | 8:676646c50aeb | 570 | |
sjoerdbarts | 8:676646c50aeb | 571 | void Controller_motor() |
sjoerdbarts | 8:676646c50aeb | 572 | { |
sjoerdbarts | 8:676646c50aeb | 573 | // get the actual position |
sjoerdbarts | 8:676646c50aeb | 574 | double m1_Position = m1_GetPosition_cal(); |
sjoerdbarts | 8:676646c50aeb | 575 | double m2_Position = m2_GetPosition_cal(); |
sjoerdbarts | 8:676646c50aeb | 576 | // Set position scopes |
sjoerdbarts | 8:676646c50aeb | 577 | scope.set(0,x); |
sjoerdbarts | 8:676646c50aeb | 578 | scope.set(1,y); |
sjoerdbarts | 8:676646c50aeb | 579 | scope.set(2,Theta1); |
sjoerdbarts | 8:676646c50aeb | 580 | scope.set(3,Theta2); |
sjoerdbarts | 8:676646c50aeb | 581 | /* |
sjoerdbarts | 8:676646c50aeb | 582 | scope.set(0,Theta1); |
sjoerdbarts | 8:676646c50aeb | 583 | scope.set(1,m1_Position); |
sjoerdbarts | 8:676646c50aeb | 584 | scope.set(3,Theta2); |
sjoerdbarts | 8:676646c50aeb | 585 | scope.set(4,m2_Position); |
sjoerdbarts | 8:676646c50aeb | 586 | */ |
sjoerdbarts | 8:676646c50aeb | 587 | //scope.set(2,m1_Position); |
sjoerdbarts | 8:676646c50aeb | 588 | //scope.set(4,m2_Position); |
sjoerdbarts | 8:676646c50aeb | 589 | // calc the error |
sjoerdbarts | 8:676646c50aeb | 590 | double m1_error = Theta1 - m1_Position; |
sjoerdbarts | 8:676646c50aeb | 591 | double m2_error = Theta2 - m2_Position; |
sjoerdbarts | 8:676646c50aeb | 592 | //scope.set(2,m1_error); |
sjoerdbarts | 8:676646c50aeb | 593 | //scope.set(6,m2_error); |
sjoerdbarts | 8:676646c50aeb | 594 | // calc motorvalues for controller; |
sjoerdbarts | 8:676646c50aeb | 595 | double m1_MotorValue = m1_PID(m1_error, Kp, Ki, Kd, Ts, N, m1_v1, m1_v2); |
sjoerdbarts | 8:676646c50aeb | 596 | double m2_MotorValue = m2_PID(m2_error, Kp, Ki, Kd, Ts, N, m2_v1, m2_v2); |
sjoerdbarts | 8:676646c50aeb | 597 | scope.set(4,m1_MotorValue); |
sjoerdbarts | 8:676646c50aeb | 598 | scope.set(5,m2_MotorValue); |
sjoerdbarts | 8:676646c50aeb | 599 | // Set the motorvalues |
sjoerdbarts | 10:4bd8ec9e79ff | 600 | // SetMotor(1, m1_MotorValue); |
sjoerdbarts | 10:4bd8ec9e79ff | 601 | // SetMotor(2, m2_MotorValue); |
sjoerdbarts | 8:676646c50aeb | 602 | // Set motorvalues for scope |
sjoerdbarts | 8:676646c50aeb | 603 | // Send data to HIDScope |
sjoerdbarts | 8:676646c50aeb | 604 | scope.send(); |
sjoerdbarts | 8:676646c50aeb | 605 | } |
sjoerdbarts | 8:676646c50aeb | 606 | |
sjoerdbarts | 8:676646c50aeb | 607 | void PotControl() |
sjoerdbarts | 8:676646c50aeb | 608 | { |
sjoerdbarts | 15:e9439eac1342 | 609 | double Motor1_Value = (pot1.read() - 0.5f); |
sjoerdbarts | 15:e9439eac1342 | 610 | double Motor2_Value = (pot2.read() - 0.5f); |
sjoerdbarts | 8:676646c50aeb | 611 | //pc.printf("\r\n Motor value 1: %f \r\n",Motor1_Value); |
sjoerdbarts | 8:676646c50aeb | 612 | //pc.printf("\r\n Motor value 2: %f \r\n",Motor2_Value); |
sjoerdbarts | 8:676646c50aeb | 613 | double m1_Position = m1_GetPosition(); |
sjoerdbarts | 8:676646c50aeb | 614 | double m2_Position = m2_GetPosition(); |
sjoerdbarts | 8:676646c50aeb | 615 | scope.set(0, Motor1_Value); |
sjoerdbarts | 8:676646c50aeb | 616 | scope.set(1, m1_Position); |
sjoerdbarts | 8:676646c50aeb | 617 | scope.set(2, Motor2_Value); |
sjoerdbarts | 8:676646c50aeb | 618 | scope.set(3, m2_Position); |
sjoerdbarts | 8:676646c50aeb | 619 | scope.send(); |
sjoerdbarts | 8:676646c50aeb | 620 | // Write the motors |
sjoerdbarts | 8:676646c50aeb | 621 | SetMotor(1, Motor1_Value); |
sjoerdbarts | 8:676646c50aeb | 622 | SetMotor(2, Motor2_Value); |
sjoerdbarts | 8:676646c50aeb | 623 | } |
sjoerdbarts | 8:676646c50aeb | 624 | |
sjoerdbarts | 8:676646c50aeb | 625 | void ResetEncoders() |
sjoerdbarts | 8:676646c50aeb | 626 | { |
sjoerdbarts | 8:676646c50aeb | 627 | m1_EncoderCW.reset(); |
sjoerdbarts | 8:676646c50aeb | 628 | m1_EncoderCCW.reset(); |
sjoerdbarts | 8:676646c50aeb | 629 | m2_EncoderCW.reset(); |
sjoerdbarts | 8:676646c50aeb | 630 | m2_EncoderCCW.reset(); |
sjoerdbarts | 8:676646c50aeb | 631 | } |
sjoerdbarts | 8:676646c50aeb | 632 | |
sjoerdbarts | 8:676646c50aeb | 633 | void Button1Switch() |
sjoerdbarts | 8:676646c50aeb | 634 | { |
sjoerdbarts | 8:676646c50aeb | 635 | button1_value = not button1_value; |
sjoerdbarts | 15:e9439eac1342 | 636 | pc.printf("\r\n Button1_value = %d \r\n", button1_value); |
sjoerdbarts | 8:676646c50aeb | 637 | } |
sjoerdbarts | 8:676646c50aeb | 638 | |
sjoerdbarts | 8:676646c50aeb | 639 | void Button2Switch() |
sjoerdbarts | 8:676646c50aeb | 640 | { |
sjoerdbarts | 8:676646c50aeb | 641 | button2_value = not button2_value; |
sjoerdbarts | 15:e9439eac1342 | 642 | pc.printf("\r\n Button2_value = %d \r\n", button2_value); |
s1600907 | 1:e1267e72ade8 | 643 | } |
s1600907 | 0:c96cf9760185 | 644 | |
sjoerdbarts | 13:e8b8b035abbd | 645 | void PANIC() |
sjoerdbarts | 13:e8b8b035abbd | 646 | { |
sjoerdbarts | 13:e8b8b035abbd | 647 | CalculationsTicker.detach(); |
sjoerdbarts | 13:e8b8b035abbd | 648 | PIDControlTicker.detach(); |
sjoerdbarts | 15:e9439eac1342 | 649 | Stepper_Off(); |
sjoerdbarts | 13:e8b8b035abbd | 650 | SetMotor(1,0.0); |
sjoerdbarts | 13:e8b8b035abbd | 651 | SetMotor(2,0.0); |
sjoerdbarts | 13:e8b8b035abbd | 652 | pc.printf("\r\n PANIC BUTTON PRESSED \r\n"); |
sjoerdbarts | 13:e8b8b035abbd | 653 | pc.printf("\r\n TERMINATING ALL PROCESSES \r\n"); |
sjoerdbarts | 13:e8b8b035abbd | 654 | } |
sjoerdbarts | 13:e8b8b035abbd | 655 | |
s1600907 | 0:c96cf9760185 | 656 | ////////////////////////// main loop //////////////////////////////////////////// |
s1600907 | 0:c96cf9760185 | 657 | int main() |
sjoerdbarts | 8:676646c50aeb | 658 | { |
sjoerdbarts | 8:676646c50aeb | 659 | // Setup |
sjoerdbarts | 8:676646c50aeb | 660 | // Set baud connection with PC |
s1600907 | 0:c96cf9760185 | 661 | pc.baud(SERIAL_BAUD); |
sjoerdbarts | 8:676646c50aeb | 662 | pc.printf("\r\n ***THERMONUCLEAR WARFARE COMMENCES*** \r\n"); |
s1600907 | 0:c96cf9760185 | 663 | |
s1600907 | 0:c96cf9760185 | 664 | /* making the biquad chain for filtering the emg |
s1600907 | 0:c96cf9760185 | 665 | notch and high pass */ |
s1600907 | 0:c96cf9760185 | 666 | bqc.add( &bq1 ).add( &bq2 ); |
s1600907 | 0:c96cf9760185 | 667 | bqc2.add( &bq4 ).add( &bq5 ); |
s1600907 | 0:c96cf9760185 | 668 | bqc3.add( &bq7 ).add( &bq8 ); |
sjoerdbarts | 13:e8b8b035abbd | 669 | |
sjoerdbarts | 8:676646c50aeb | 670 | // Setup Blinking LED to blink every 0.5 sec |
sjoerdbarts | 8:676646c50aeb | 671 | led = 1; |
sjoerdbarts | 8:676646c50aeb | 672 | BlinkLedTicker.attach(BlinkLed,0.5); |
sjoerdbarts | 8:676646c50aeb | 673 | |
sjoerdbarts | 14:f114e57c3795 | 674 | // Setup other leds |
sjoerdbarts | 14:f114e57c3795 | 675 | red = 1; |
sjoerdbarts | 14:f114e57c3795 | 676 | blue = 1; |
sjoerdbarts | 14:f114e57c3795 | 677 | green = 1; |
sjoerdbarts | 14:f114e57c3795 | 678 | |
sjoerdbarts | 8:676646c50aeb | 679 | // Setup motor PWM speeds |
sjoerdbarts | 8:676646c50aeb | 680 | motor1_pwm.period(1.0/1000); |
sjoerdbarts | 8:676646c50aeb | 681 | motor2_pwm.period(1.0/1000); |
sjoerdbarts | 7:bafc32b576c4 | 682 | |
sjoerdbarts | 8:676646c50aeb | 683 | // Setup Interruptin.fall |
sjoerdbarts | 8:676646c50aeb | 684 | button1.fall(Button1Switch); |
sjoerdbarts | 13:e8b8b035abbd | 685 | button2.fall(PANIC); |
sjoerdbarts | 13:e8b8b035abbd | 686 | button3.fall(Stepper_On); |
sjoerdbarts | 8:676646c50aeb | 687 | //button4.fall(xxx); |
s1600907 | 0:c96cf9760185 | 688 | |
sjoerdbarts | 8:676646c50aeb | 689 | // Actual code starts here |
sjoerdbarts | 8:676646c50aeb | 690 | // Start positioning the arms |
sjoerdbarts | 8:676646c50aeb | 691 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 8:676646c50aeb | 692 | pc.printf("\r\n Press Button 1 to start positioning the arms using PotControl\r\n"); |
sjoerdbarts | 8:676646c50aeb | 693 | pc.printf("\r\n Make sure both potentiometers are positioned halfway! \r\n"); |
sjoerdbarts | 8:676646c50aeb | 694 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 15:e9439eac1342 | 695 | pc.printf("\r\n Button1_value = %d \r\n", button1_value); |
sjoerdbarts | 15:e9439eac1342 | 696 | while (button1_value == false) |
sjoerdbarts | 15:e9439eac1342 | 697 | { |
sjoerdbarts | 15:e9439eac1342 | 698 | pc.printf("\r\n Button1_value = %d \r\n", button1_value); |
sjoerdbarts | 15:e9439eac1342 | 699 | wait(5); |
sjoerdbarts | 15:e9439eac1342 | 700 | } |
sjoerdbarts | 8:676646c50aeb | 701 | PotControlTicker.attach(&PotControl,CONTROLLER_TS); |
s1600907 | 0:c96cf9760185 | 702 | |
sjoerdbarts | 8:676646c50aeb | 703 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 8:676646c50aeb | 704 | pc.printf("\r\n When done positioning, press Button 1 to detach Potcontrol"); |
sjoerdbarts | 8:676646c50aeb | 705 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 15:e9439eac1342 | 706 | while (button1_value == true) |
sjoerdbarts | 15:e9439eac1342 | 707 | { |
sjoerdbarts | 15:e9439eac1342 | 708 | pc.printf("\r\n Button1_value = %d \r\n", button1_value); |
sjoerdbarts | 15:e9439eac1342 | 709 | wait(5); |
sjoerdbarts | 15:e9439eac1342 | 710 | } |
sjoerdbarts | 8:676646c50aeb | 711 | |
sjoerdbarts | 8:676646c50aeb | 712 | // Detach potcontrol |
sjoerdbarts | 8:676646c50aeb | 713 | PotControlTicker.detach(); |
sjoerdbarts | 8:676646c50aeb | 714 | |
sjoerdbarts | 8:676646c50aeb | 715 | // Set motors to 0 |
sjoerdbarts | 8:676646c50aeb | 716 | SetMotor(1,0.0); |
sjoerdbarts | 8:676646c50aeb | 717 | SetMotor(2,0.0); |
sjoerdbarts | 8:676646c50aeb | 718 | // Wait a bit to let the movement stop |
sjoerdbarts | 8:676646c50aeb | 719 | wait(0.5); |
sjoerdbarts | 8:676646c50aeb | 720 | // Reset the encoders to set the 0 position |
sjoerdbarts | 8:676646c50aeb | 721 | ResetEncoders(); |
sjoerdbarts | 8:676646c50aeb | 722 | |
sjoerdbarts | 8:676646c50aeb | 723 | // PID control starts |
sjoerdbarts | 8:676646c50aeb | 724 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 8:676646c50aeb | 725 | pc.printf("\r\n When done positioning, press button SW3 to start potmeter PID control"); |
sjoerdbarts | 8:676646c50aeb | 726 | pc.printf("\r\n Make sure both potentiometers are positioned halfway!!! \r\n"); |
sjoerdbarts | 8:676646c50aeb | 727 | pc.printf("\r\n ***************** \r\n"); |
sjoerdbarts | 15:e9439eac1342 | 728 | while (button1_value == false) |
sjoerdbarts | 15:e9439eac1342 | 729 | { |
sjoerdbarts | 15:e9439eac1342 | 730 | pc.printf("\r\n Button1_value = %d \r\n", button1_value); |
sjoerdbarts | 15:e9439eac1342 | 731 | wait(5); |
sjoerdbarts | 15:e9439eac1342 | 732 | } |
sjoerdbarts | 8:676646c50aeb | 733 | |
sjoerdbarts | 8:676646c50aeb | 734 | // Attach sample, calc and control tickers |
sjoerdbarts | 8:676646c50aeb | 735 | CalculationsTicker.attach(&CalculationsForTheta,CALC_TS); |
sjoerdbarts | 12:9b0451105991 | 736 | PIDControlTicker.attach(&Controller_motor, CONTROLLER_TS); |
sjoerdbarts | 8:676646c50aeb | 737 | while(true){} |
s1600907 | 0:c96cf9760185 | 738 | } |