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Dependencies:   HIDScope Servo mbed QEI biquadFilter

main.cpp@5:3581013d4505, 2018-10-22 (annotated)

Committer:
s1725696
Date:
Mon Oct 22 09:33:18 2018 +0000
Revision:
5:3581013d4505
Parent:
4:8183e7b228f0
Child:
6:f495a77c2c95
Counts are get, and potmeters controls the motor;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1725696 5:3581013d4505 1 #include "mbed.h" // Use revision 119!!
s1725696 5:3581013d4505 2 #include "HIDScope.h" // For displaying data, select MBED - HID device, restart for every new code
s1725696 5:3581013d4505 3 #include "QEI.h" // For reading the encoder of the motors
s1725696 0:cb8857cf3ea4 4
s1725696 5:3581013d4505 5 #define SERIAL_BAUD 115200
s1725696 5:3581013d4505 6
s1725696 5:3581013d4505 7 // In- en outputs
s1725696 4:8183e7b228f0 8 // -----------------------------------------------------------------------------
s1725696 4:8183e7b228f0 9
s1725696 5:3581013d4505 10 /*
s1725696 0:cb8857cf3ea4 11 // EMG related
s1725696 5:3581013d4505 12 AnalogIn emg1(); // EMG signal 1
s1725696 5:3581013d4505 13 AnalogIn emg2(); // EMG signal 2
s1725696 5:3581013d4505 14 // if needed
s1725696 5:3581013d4505 15 AnalogIn emg3(); // EMG signal 3
s1725696 5:3581013d4505 16 AnalogIn emg4(); // EMG signal 4
s1725696 0:cb8857cf3ea4 17 */
s1725696 0:cb8857cf3ea4 18
s1725696 0:cb8857cf3ea4 19 // Motor related
s1725696 0:cb8857cf3ea4 20 DigitalOut dirpin_1(D4); // direction of motor 1
s1725696 0:cb8857cf3ea4 21 PwmOut pwmpin_1(D5); // PWM pin of motor 1
s1725696 5:3581013d4505 22 DigitalOut dirpin_2(D7); // direction of motor 2
s1725696 5:3581013d4505 23 PwmOut pwmpin_2(D6); // PWM pin of motor 2
s1725696 0:cb8857cf3ea4 24
s1725696 0:cb8857cf3ea4 25 // Extra stuff
s1725696 0:cb8857cf3ea4 26 // Like LED lights, buttons etc
s1725696 5:3581013d4505 27 /*
s1725696 5:3581013d4505 28 DigitalIn button_motorcal(); // button for motor calibration
s1725696 5:3581013d4505 29 DigitalIn button_emergency(); // button for emergency mode
s1725696 5:3581013d4505 30 DigitalIn button_start(); // button for start mode (from demo mode)
s1725696 5:3581013d4505 31 DigitalIn button_demo(); // button for demo mode
s1725696 5:3581013d4505 32 */
s1725696 4:8183e7b228f0 33 DigitalIn led_red(LED_RED); // red led
s1725696 4:8183e7b228f0 34 DigitalIn led_green(LED_GREEN); // green led
s1725696 4:8183e7b228f0 35 DigitalIn led_blue(LED_BLUE); // blue led
s1725696 5:3581013d4505 36 AnalogIn pot_1(A1); // potmeter for simulating EMG input
s1725696 5:3581013d4505 37
s1725696 0:cb8857cf3ea4 38
s1725696 0:cb8857cf3ea4 39 // Other stuff
s1725696 4:8183e7b228f0 40 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 41 // Define stuff like tickers etc
s1725696 0:cb8857cf3ea4 42
s1725696 5:3581013d4505 43 // Ticker NAME; // Name a ticker, use each ticker only for 1 function!
s1725696 0:cb8857cf3ea4 44 HIDScope scope(2); // Number of channels in HIDScope
s1725696 0:cb8857cf3ea4 45 QEI Encoder(D13,D12,NC,64,QEI::X4_ENCODING); // Define the type of encoding: X4 encoding(default is X2)
s1725696 5:3581013d4505 46 Serial pc(USBTX,USBRX);
s1725696 0:cb8857cf3ea4 47
s1725696 0:cb8857cf3ea4 48 // Variables
s1725696 4:8183e7b228f0 49 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 50 // Define here all variables needed throughout the whole code
s1725696 5:3581013d4505 51 int counts;
s1725696 0:cb8857cf3ea4 52
s1725696 0:cb8857cf3ea4 53 // Functions
s1725696 4:8183e7b228f0 54 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 55
s1725696 4:8183e7b228f0 56 // Encoder
s1725696 4:8183e7b228f0 57 // Getting encoder information from motors
s1725696 4:8183e7b228f0 58 int encoder()
s1725696 4:8183e7b228f0 59 {
s1725696 5:3581013d4505 60 int counts = Encoder.getPulses();
s1725696 4:8183e7b228f0 61 return counts;
s1725696 5:3581013d4505 62 }
s1725696 5:3581013d4505 63
s1725696 5:3581013d4505 64 // potmeter
s1725696 5:3581013d4505 65 float potmeter()
s1725696 5:3581013d4505 66 {
s1725696 5:3581013d4505 67 float out_1 = pot_1 * 2.0f;
s1725696 5:3581013d4505 68 float out_2 = out_1 - 1.0f;
s1725696 5:3581013d4505 69
s1725696 5:3581013d4505 70 dirpin_1.write(out_2 < 0);
s1725696 5:3581013d4505 71 dirpin_2.write(out_2 < 0);
s1725696 5:3581013d4505 72
s1725696 5:3581013d4505 73 pwmpin_1 = fabs (out_2); // Has to be positive value
s1725696 5:3581013d4505 74 pwmpin_2 = fabs (out_2);
s1725696 5:3581013d4505 75
s1725696 5:3581013d4505 76 return out_2;
s1725696 5:3581013d4505 77 }
s1725696 4:8183e7b228f0 78
s1725696 0:cb8857cf3ea4 79 // Motor calibration
s1725696 0:cb8857cf3ea4 80 // To calibrate the motor angle to some mechanical boundaries
s1725696 4:8183e7b228f0 81 // Kenneth mee bezig
s1725696 0:cb8857cf3ea4 82
s1725696 0:cb8857cf3ea4 83 // EMG calibration
s1725696 0:cb8857cf3ea4 84 // To calibrate the EMG signal to some boundary values
s1725696 0:cb8857cf3ea4 85
s1725696 0:cb8857cf3ea4 86 // Send EMG to HIDScope
s1725696 4:8183e7b228f0 87 void sample() // Attach this to a ticker!
s1725696 0:cb8857cf3ea4 88 {
s1725696 5:3581013d4505 89 scope.set(0, counts); // send counts to channel 1 (=0)
s1725696 5:3581013d4505 90 // scope.set(1, velocity_encoder() ); // sent EMG 2 to channel 2 (=1)
s1725696 5:3581013d4505 91
s1725696 1:1a8211e1f3f3 92 // Ensure that enough channels are available (HIDScope scope(2))
s1725696 0:cb8857cf3ea4 93 scope.send(); // Send all channels to the PC at once
s1725696 0:cb8857cf3ea4 94 }
s1725696 0:cb8857cf3ea4 95
s1725696 0:cb8857cf3ea4 96 // Start
s1725696 0:cb8857cf3ea4 97 // To move the robot to the starting position: middle
s1725696 4:8183e7b228f0 98 void start()
s1725696 4:8183e7b228f0 99 {
s1725696 4:8183e7b228f0 100 // move to middle
s1725696 4:8183e7b228f0 101 }
s1725696 0:cb8857cf3ea4 102
s1725696 0:cb8857cf3ea4 103 // Operating mode
s1725696 0:cb8857cf3ea4 104 // To control the robot with EMG signals
s1725696 0:cb8857cf3ea4 105
s1725696 0:cb8857cf3ea4 106 // Processing EMG
s1725696 0:cb8857cf3ea4 107 // To process the raw EMG to a usable value, with filters etc
s1725696 4:8183e7b228f0 108 // Simon en Kees mee bezig
s1725696 0:cb8857cf3ea4 109
s1725696 0:cb8857cf3ea4 110 // Demo mode
s1725696 0:cb8857cf3ea4 111 // To control the robot with a written code and write 'HELLO'
s1725696 4:8183e7b228f0 112 // Voor het laatst bewaren
s1725696 0:cb8857cf3ea4 113
s1725696 0:cb8857cf3ea4 114 // Emergency mode
s1725696 0:cb8857cf3ea4 115 // To shut down the robot after an error etc
s1725696 0:cb8857cf3ea4 116
s1725696 0:cb8857cf3ea4 117 // Main function
s1725696 4:8183e7b228f0 118 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 119 int main()
s1725696 0:cb8857cf3ea4 120 {
s1725696 0:cb8857cf3ea4 121 pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself!
s1725696 0:cb8857cf3ea4 122 pc.printf("Start code\r\n"); // To check if the program starts
s1725696 5:3581013d4505 123 pwmpin_1.period_us(60); // Needed for PWM, not exactly known why
s1725696 1:1a8211e1f3f3 124
s1725696 1:1a8211e1f3f3 125 while(true){
s1725696 5:3581013d4505 126
s1725696 5:3581013d4505 127 counts = encoder();
s1725696 5:3581013d4505 128 float out_2 = potmeter();
s1725696 5:3581013d4505 129 sample();
s1725696 5:3581013d4505 130
s1725696 5:3581013d4505 131 pc.printf("potmeter value = %f ", out_2);
s1725696 5:3581013d4505 132 pc.printf("counts = %i\r\n", counts);
s1725696 5:3581013d4505 133
s1725696 5:3581013d4505 134 /* if (button_motorcal == true){
s1725696 4:8183e7b228f0 135 // execute motor calibration
s1725696 4:8183e7b228f0 136 }
s1725696 4:8183e7b228f0 137 elseif {
s1725696 4:8183e7b228f0 138 // remain in waiting mode
s1725696 4:8183e7b228f0 139 break;
s1725696 4:8183e7b228f0 140 }
s1725696 5:3581013d4505 141 */
s1725696 5:3581013d4505 142
s1725696 5:3581013d4505 143 wait(0.01); // loop the while loop every 0.01 seconds
s1725696 5:3581013d4505 144 }
s1725696 5:3581013d4505 145
s1725696 0:cb8857cf3ea4 146 }