Group 9 BioRobotics / Mbed 2 deprecated the_code

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   HIDScope Servo mbed QEI biquadFilter

THE.cpp@25:408c2242bdfa, 2018-11-02 (annotated)

Committer:
s1725696
Date:
Fri Nov 02 09:11:15 2018 +0000
Revision:
25:408c2242bdfa
Parent:
24:ebcb41126f21
Child:
26:0b029c8623fe
in operating back to wait is now possible, without problems

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 "QEI.h" // For reading the encoder of the motors
s1725696 9:d7a6a3619576 3 #include <ctime> // for the timer during the process (if needed)
s1725696 11:79311abb2bc2 4 #include "Servo.h" // For controlling the servo
s1725696 13:c087c0f64769 5 #include "BiQuad.h"
s1725696 0:cb8857cf3ea4 6
s1725696 5:3581013d4505 7 #define SERIAL_BAUD 115200
s1725696 5:3581013d4505 8
s1725696 5:3581013d4505 9 // In- en outputs
s1725696 4:8183e7b228f0 10 // -----------------------------------------------------------------------------
s1725696 4:8183e7b228f0 11
s1725696 18:db53ac017f50 12 // EMG
s1725696 18:db53ac017f50 13 AnalogIn emg0_in( A0 ); // x_direction
s1725696 18:db53ac017f50 14 AnalogIn emg1_in( A1 ); // y_direction
s1725696 18:db53ac017f50 15 AnalogIn emg2_in( A2 ); // changing directions
s1725696 18:db53ac017f50 16
s1725696 18:db53ac017f50 17 // Motor related
s1725696 18:db53ac017f50 18 DigitalOut dirpin_1(D4); // direction of motor 1 (translation)
s1725696 18:db53ac017f50 19 PwmOut pwmpin_1(D5); // PWM pin of motor 1
s1725696 18:db53ac017f50 20 DigitalOut dirpin_2(D7); // direction of motor 2 (rotation)
s1725696 18:db53ac017f50 21 PwmOut pwmpin_2(D6); // PWM pin of motor 2
s1725696 18:db53ac017f50 22
s1725696 18:db53ac017f50 23 // Extra stuff
s1725696 18:db53ac017f50 24 DigitalIn button_motorcal(SW2); // button for motor calibration, on mbed
s1725696 18:db53ac017f50 25 DigitalIn button_emergency(D8); // button for emergency mode, on bioshield
s1725696 18:db53ac017f50 26 DigitalIn button_wait(SW3); // button for wait mode, on mbed
s1725696 18:db53ac017f50 27 DigitalIn button_demo(D9); // button for demo mode, on bioshield
s1725696 18:db53ac017f50 28
s1725696 18:db53ac017f50 29 DigitalIn led_red(LED_RED); // red led
s1725696 18:db53ac017f50 30 DigitalIn led_green(LED_GREEN); // green led
s1725696 18:db53ac017f50 31 DigitalIn led_blue(LED_BLUE); // blue led
s1725696 18:db53ac017f50 32
s1725696 18:db53ac017f50 33 Servo myservo(D3); // Define the servo to control (in penholder), up to start with
s1725696 18:db53ac017f50 34
s1725696 18:db53ac017f50 35 // Other stuff
s1725696 18:db53ac017f50 36 // -----------------------------------------------------------------------------
s1725696 18:db53ac017f50 37 // Define stuff like tickers etc
s1725696 18:db53ac017f50 38
s1725696 18:db53ac017f50 39 Ticker process_tick;
s1725696 18:db53ac017f50 40 Ticker emergency;
s1725696 18:db53ac017f50 41 QEI Encoder1(D13,D12,NC,64,QEI::X4_ENCODING); // Define the type of encoding: X4 encoding(default is X2)
s1725696 18:db53ac017f50 42 QEI Encoder2(D11,D10,NC,64,QEI::X4_ENCODING);
s1725696 18:db53ac017f50 43 Serial pc(USBTX,USBRX);
s1725696 18:db53ac017f50 44 Timer t; // For timing the time in each state (https://os.mbed.com/handbook/Timer)
s1725696 18:db53ac017f50 45
s1725696 18:db53ac017f50 46 // Variables
s1725696 18:db53ac017f50 47 // -----------------------------------------------------------------------------
s1725696 18:db53ac017f50 48 // Define here all variables needed throughout the whole code
s1725696 18:db53ac017f50 49 volatile double time_overall;
s1725696 18:db53ac017f50 50 volatile double time_in_state;
s1725696 18:db53ac017f50 51 volatile int counts1_prev = 0;
s1725696 18:db53ac017f50 52 volatile int counts2_prev = 0;
s1725696 18:db53ac017f50 53 volatile int counts1;
s1725696 18:db53ac017f50 54 volatile int counts2;
s1725696 18:db53ac017f50 55
s1725696 0:cb8857cf3ea4 56 // EMG related
s1725696 13:c087c0f64769 57 // Constants EMG filter
s1725696 13:c087c0f64769 58 const double m1 = 0.5000;
s1725696 13:c087c0f64769 59 const double m2 = -0.8090;
s1725696 13:c087c0f64769 60 const double n0 = 0.5000;
s1725696 13:c087c0f64769 61 const double n1 = -0.8090;
s1725696 13:c087c0f64769 62 const double n2 = 0.0;
s1725696 13:c087c0f64769 63 const double a1 = 0.9565;
s1725696 13:c087c0f64769 64 const double a2 = -1.9131;
s1725696 13:c087c0f64769 65 const double b0 = 0.9565;
s1725696 13:c087c0f64769 66 const double b1 = -1.9112;
s1725696 13:c087c0f64769 67 const double b2 = 0.9150;
s1725696 13:c087c0f64769 68 const double c1 = 0.0675;
s1725696 13:c087c0f64769 69 const double c2 = 0.1349;
s1725696 13:c087c0f64769 70 const double d0 = 0.0675;
s1725696 13:c087c0f64769 71 const double d1 = -1.1430;
s1725696 13:c087c0f64769 72 const double d2 = 0.4128;
s1725696 13:c087c0f64769 73
s1725696 13:c087c0f64769 74 // Variables EMG
s1725696 13:c087c0f64769 75 double emg0;
s1725696 13:c087c0f64769 76 double emg1;
s1725696 13:c087c0f64769 77 double emg2;
s1725696 13:c087c0f64769 78 double notch0;
s1725696 13:c087c0f64769 79 double notch1;
s1725696 13:c087c0f64769 80 double notch2;
s1725696 13:c087c0f64769 81 double high0;
s1725696 13:c087c0f64769 82 double high1;
s1725696 13:c087c0f64769 83 double high2;
s1725696 13:c087c0f64769 84 double absolute0;
s1725696 13:c087c0f64769 85 double absolute1;
s1725696 13:c087c0f64769 86 double absolute2;
s1725696 13:c087c0f64769 87 double low0;
s1725696 13:c087c0f64769 88 double low1;
s1725696 13:c087c0f64769 89 double low2;
s1725696 13:c087c0f64769 90
s1725696 13:c087c0f64769 91 // BiQuad values
s1725696 13:c087c0f64769 92 BiQuadChain notch;
s1725696 13:c087c0f64769 93 BiQuad N1( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 94 BiQuad N2( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 95 BiQuad N3( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 96 BiQuadChain highpass;
s1725696 13:c087c0f64769 97 BiQuad H1( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 98 BiQuad H2( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 99 BiQuad H3( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 100 BiQuadChain lowpass;
s1725696 13:c087c0f64769 101 BiQuad L1( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 102 BiQuad L2( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 103 BiQuad L3( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 104
s1725696 16:37b491eac34b 105 const float T = 0.001f;
s1725696 13:c087c0f64769 106
s1725696 13:c087c0f64769 107 // EMG
s1725696 13:c087c0f64769 108 const int sizeMovAg = 100; //Size of array over which the moving average (MovAg) is calculated
s1725696 13:c087c0f64769 109 double sum, sum1, sum2, sum3; //Variables used in calibration and MovAg to sum the elements in the array
s1725696 13:c087c0f64769 110 double StoreArray0[sizeMovAg] = {}, StoreArray1[sizeMovAg] = {}, StoreArray2[sizeMovAg] = {};
s1725696 13:c087c0f64769 111
s1725696 13:c087c0f64769 112 //Empty arrays to calculate MovAgs
s1725696 13:c087c0f64769 113 double Average0, Average1, Average2; //Outcome of MovAg
s1725696 13:c087c0f64769 114 const int sizeCali = 500; //Size of array over which the Threshold will be calculated
s1725696 13:c087c0f64769 115 double StoreCali0[sizeCali] = {}, StoreCali1[sizeCali] = {}, StoreCali2[sizeCali] = {};
s1725696 13:c087c0f64769 116
s1725696 13:c087c0f64769 117 //Empty arrays to calculate means in calibration
s1725696 13:c087c0f64769 118 double Mean0, Mean1, Mean2; //Mean of maximum contraction, calculated in the calibration
s1725696 13:c087c0f64769 119 double Threshold0 = 1, Threshold1 = 1, Threshold2 = 1; //Thresholds for muscles 0 to 2
s1725696 13:c087c0f64769 120 int g = 0; //Part of the switch void, where the current state can be changed
s1725696 13:c087c0f64769 121 int emg_calib=0; //After calibration this value will be 1, enabling the
s1725696 13:c087c0f64769 122
s1725696 12:b2b082e73ef1 123 // MOTOR_CAL
s1725696 12:b2b082e73ef1 124 volatile double tower_1_position = 0.1; // the tower which he reaches first
s1725696 12:b2b082e73ef1 125 volatile double tower_end_position = 0.1; // the tower which he reaches second
s1725696 12:b2b082e73ef1 126 volatile double rotation_start_position = 0.1; // the position where the rotation will remain
s1725696 12:b2b082e73ef1 127 volatile double position;
s1725696 20:645483d7470c 128 volatile float speed = 1.0;
s1725696 17:65943f6e11dc 129 volatile int dir = 0;
s1725696 17:65943f6e11dc 130
s1725696 17:65943f6e11dc 131 // RKI related
s1725696 17:65943f6e11dc 132 const double Ts = 0.001;// sample frequency
s1725696 17:65943f6e11dc 133
s1725696 17:65943f6e11dc 134 // Constants motor
s1725696 17:65943f6e11dc 135 const double delta_t = 0.01;
s1725696 17:65943f6e11dc 136 const double el_1 = 370.0 / 2.0;
s1725696 17:65943f6e11dc 137 const double el_2 = 65.0 / 2.0;
s1725696 17:65943f6e11dc 138 const double pi = 3.14159265359;
s1725696 17:65943f6e11dc 139 const double alpha = (2.0 * pi) /(25.0*8400.0);
s1725696 17:65943f6e11dc 140 const double beta = (((2.0 * el_1) - (2.0 * el_2)) * 20.0 * pi) / (305.0 * 8400.0);
s1725696 17:65943f6e11dc 141 const double q1start = rotation_start_position * alpha;
s1725696 17:65943f6e11dc 142 const double q2start = tower_1_position * beta;
s1725696 17:65943f6e11dc 143 const double q2end = tower_end_position * beta;
s1725696 17:65943f6e11dc 144
s1725696 17:65943f6e11dc 145 // Variables motors
s1725696 17:65943f6e11dc 146 volatile double desired_x;
s1725696 17:65943f6e11dc 147 volatile double desired_y;
s1725696 17:65943f6e11dc 148 volatile double out1;
s1725696 17:65943f6e11dc 149 volatile double out2;
s1725696 17:65943f6e11dc 150 volatile double vdesx;
s1725696 17:65943f6e11dc 151 volatile double vdesy;
s1725696 17:65943f6e11dc 152 volatile double q1;
s1725696 17:65943f6e11dc 153 volatile double q2;
s1725696 17:65943f6e11dc 154 volatile double MPe;
s1725696 17:65943f6e11dc 155 volatile double xe;
s1725696 17:65943f6e11dc 156 volatile double ye;
s1725696 17:65943f6e11dc 157 volatile double gamma;
s1725696 17:65943f6e11dc 158 volatile double dq1;
s1725696 17:65943f6e11dc 159 volatile double dq2;
s1725696 17:65943f6e11dc 160 volatile double dC1;
s1725696 17:65943f6e11dc 161 volatile double dC2;
s1725696 17:65943f6e11dc 162 volatile double pwm1;
s1725696 17:65943f6e11dc 163 volatile double pwm2;
s1725696 17:65943f6e11dc 164
s1725696 17:65943f6e11dc 165 // PID rotation constants
s1725696 17:65943f6e11dc 166 volatile double Rot_Kp = 1.5;
s1725696 17:65943f6e11dc 167 volatile double Rot_Ki = 0.1;
s1725696 17:65943f6e11dc 168 volatile double Rot_Kd = 0.48;
s1725696 17:65943f6e11dc 169 volatile double Rot_error = 0.0;
s1725696 17:65943f6e11dc 170 volatile double Rot_prev_error = 0.0;
s1725696 17:65943f6e11dc 171
s1725696 17:65943f6e11dc 172 // PID translation constants
s1725696 17:65943f6e11dc 173 const double Trans_Kp = 0.5;
s1725696 17:65943f6e11dc 174 const double Trans_Ki = 0.5;
s1725696 17:65943f6e11dc 175 const double Trans_Kd = 0.1;
s1725696 17:65943f6e11dc 176 volatile double Trans_error = 0.0;
s1725696 17:65943f6e11dc 177 volatile double Trans_prev_error = 0.0;
s1725696 6:f495a77c2c95 178
s1725696 23:cc8b95d7eb57 179 // States
s1725696 20:645483d7470c 180 enum states {WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING}; // states the robot can be in
s1725696 7:ec5add330cb3 181 states CurrentState = WAIT; // the CurrentState to start with is the WAIT state
s1725696 6:f495a77c2c95 182 bool StateChanged = true; // the state must be changed to go into the next state
s1725696 0:cb8857cf3ea4 183
s1725696 20:645483d7470c 184 enum direction {Pos_RB, Pos_LB, Pos_RO, Pos_LO};
s1725696 20:645483d7470c 185 direction currentdirection = Pos_RB;
s1725696 20:645483d7470c 186 bool directionchanged = true;
s1725696 20:645483d7470c 187
s1725696 0:cb8857cf3ea4 188 // Functions
s1725696 4:8183e7b228f0 189 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 190
s1725696 4:8183e7b228f0 191 // Encoder
s1725696 4:8183e7b228f0 192 // Getting encoder information from motors
s1725696 12:b2b082e73ef1 193 int Counts1(volatile int& a) // a = counts1
s1725696 4:8183e7b228f0 194 {
s1725696 12:b2b082e73ef1 195 counts1_prev = a;
s1725696 18:db53ac017f50 196 a = Encoder1.getPulses();
s1725696 12:b2b082e73ef1 197 return a;
s1725696 12:b2b082e73ef1 198 }
s1725696 12:b2b082e73ef1 199
s1725696 12:b2b082e73ef1 200 int Counts2(volatile int& a) // a = counts2
s1725696 12:b2b082e73ef1 201 {
s1725696 12:b2b082e73ef1 202 counts2_prev = a;
s1725696 18:db53ac017f50 203 a = Encoder2.getPulses();
s1725696 12:b2b082e73ef1 204 return a;
s1725696 12:b2b082e73ef1 205 }
s1725696 5:3581013d4505 206
s1725696 11:79311abb2bc2 207 // Servo control
s1725696 12:b2b082e73ef1 208 // To lift the pen up, with a push of button
s1725696 11:79311abb2bc2 209 void servocontrol()
s1725696 11:79311abb2bc2 210 {
s1725696 18:db53ac017f50 211 if(button_motorcal == false) // If button is pushed, pen should go up
s1725696 11:79311abb2bc2 212 {
s1725696 11:79311abb2bc2 213 myservo = 0.1;
s1725696 11:79311abb2bc2 214 }
s1725696 14:abc125dcc246 215 myservo = 0.0;
s1725696 6:f495a77c2c95 216 }
s1725696 9:d7a6a3619576 217
s1725696 10:56136a0da8c1 218 // EMG filter
s1725696 10:56136a0da8c1 219 // To process the EMG signal before information can be caught from it
s1725696 14:abc125dcc246 220
s1725696 14:abc125dcc246 221 // Filter of the first EMG signal
s1725696 13:c087c0f64769 222 void filtering()
s1725696 13:c087c0f64769 223 {
s1725696 13:c087c0f64769 224 // Reading the EMG signal
s1725696 13:c087c0f64769 225 emg0 = emg0_in.read();
s1725696 13:c087c0f64769 226 emg1 = emg1_in.read();
s1725696 13:c087c0f64769 227 emg2 = emg2_in.read();
s1725696 13:c087c0f64769 228
s1725696 13:c087c0f64769 229 // Applying a notch filter over the EMG data
s1725696 13:c087c0f64769 230 notch0 = N1.step(emg0);
s1725696 13:c087c0f64769 231 notch1 = N2.step(emg1);
s1725696 13:c087c0f64769 232 notch2 = N3.step(emg2);
s1725696 13:c087c0f64769 233
s1725696 13:c087c0f64769 234 // Applying a high pass filter
s1725696 13:c087c0f64769 235 high0 = H1.step(notch0);
s1725696 13:c087c0f64769 236 high1 = H2.step(notch1);
s1725696 13:c087c0f64769 237 high2 = H3.step(notch2);
s1725696 13:c087c0f64769 238
s1725696 13:c087c0f64769 239 // Rectifying the signal
s1725696 13:c087c0f64769 240 absolute0 = fabs(high0);
s1725696 13:c087c0f64769 241 absolute1 = fabs(high1);
s1725696 13:c087c0f64769 242 absolute2 = fabs(high2);
s1725696 13:c087c0f64769 243
s1725696 13:c087c0f64769 244 // Applying low pass filter
s1725696 13:c087c0f64769 245 low0 = L1.step(absolute0);
s1725696 13:c087c0f64769 246 low1 = L2.step(absolute1);
s1725696 13:c087c0f64769 247 low2 = L3.step(absolute2);
s1725696 13:c087c0f64769 248 }
s1725696 13:c087c0f64769 249
s1725696 13:c087c0f64769 250 // Moving average filter
s1725696 13:c087c0f64769 251 // To determine the moving average, apply after filtering
s1725696 13:c087c0f64769 252 void MovAg()
s1725696 13:c087c0f64769 253 {
s1725696 13:c087c0f64769 254 // For statement to make an array of the last datapoints of the filtered signal
s1725696 13:c087c0f64769 255 for (int i = sizeMovAg - 1; i >= 0; i--)
s1725696 13:c087c0f64769 256 {
s1725696 13:c087c0f64769 257 // Shifts the i'th element one place to the right
s1725696 13:c087c0f64769 258 StoreArray0[i] = StoreArray0[i-1];
s1725696 13:c087c0f64769 259 StoreArray1[i] = StoreArray1[i-1];
s1725696 13:c087c0f64769 260 StoreArray2[i] = StoreArray2[i-1];
s1725696 13:c087c0f64769 261 }
s1725696 13:c087c0f64769 262
s1725696 13:c087c0f64769 263 // Stores the latest datapoint in the first element of the array
s1725696 13:c087c0f64769 264 StoreArray0[0] = low0;
s1725696 13:c087c0f64769 265 StoreArray1[0] = low1;
s1725696 13:c087c0f64769 266 StoreArray2[0] = low2;
s1725696 13:c087c0f64769 267 sum1 = 0.0;
s1725696 13:c087c0f64769 268 sum2 = 0.0;
s1725696 13:c087c0f64769 269 sum3 = 0.0;
s1725696 13:c087c0f64769 270
s1725696 13:c087c0f64769 271 // For statement to sum the elements in the array
s1725696 13:c087c0f64769 272 for (int a = 0; a<=sizeMovAg-1; a++)
s1725696 13:c087c0f64769 273 {
s1725696 13:c087c0f64769 274 sum1+=StoreArray0[a];
s1725696 13:c087c0f64769 275 sum2+=StoreArray1[a];
s1725696 13:c087c0f64769 276 sum3+=StoreArray2[a];
s1725696 13:c087c0f64769 277 }
s1725696 13:c087c0f64769 278
s1725696 13:c087c0f64769 279 // Calculates an average over the datapoints in the array
s1725696 13:c087c0f64769 280 Average0 = sum1/sizeMovAg;
s1725696 13:c087c0f64769 281 Average1 = sum2/sizeMovAg;
s1725696 24:ebcb41126f21 282 Average2 = sum3/sizeMovAg;
s1725696 14:abc125dcc246 283 }
s1725696 10:56136a0da8c1 284
s1725696 17:65943f6e11dc 285 // This must be applied to all emg signals coming in
s1725696 17:65943f6e11dc 286 void processing_emg()
s1725696 17:65943f6e11dc 287 {
s1725696 17:65943f6e11dc 288 filtering();
s1725696 17:65943f6e11dc 289 MovAg();
s1725696 17:65943f6e11dc 290 }
s1725696 10:56136a0da8c1 291
s1725696 10:56136a0da8c1 292 // MOTOR_CAL
s1725696 10:56136a0da8c1 293 // To calibrate the motor angle to some mechanical boundaries
s1725696 10:56136a0da8c1 294 // Kenneth mee bezig
s1725696 12:b2b082e73ef1 295 void pos_store(int a){ //store position in counts to know count location of the ends of bridge
s1725696 12:b2b082e73ef1 296
s1725696 13:c087c0f64769 297 if (tower_1_position == 0.1)
s1725696 13:c087c0f64769 298 {
s1725696 12:b2b082e73ef1 299 tower_1_position = a;
s1725696 12:b2b082e73ef1 300 }
s1725696 13:c087c0f64769 301 else if (tower_end_position == 0.1)
s1725696 13:c087c0f64769 302 {
s1725696 12:b2b082e73ef1 303 tower_end_position = a;
s1725696 12:b2b082e73ef1 304 }
s1725696 13:c087c0f64769 305 else if (rotation_start_position == 0.1)
s1725696 13:c087c0f64769 306 {
s1725696 12:b2b082e73ef1 307 rotation_start_position = a;
s1725696 12:b2b082e73ef1 308 }
s1725696 12:b2b082e73ef1 309 }
s1725696 12:b2b082e73ef1 310
s1725696 12:b2b082e73ef1 311 // Start translation
s1725696 12:b2b082e73ef1 312 void translation_start(int a, float b) // a = dir , b = speed
s1725696 12:b2b082e73ef1 313 {
s1725696 12:b2b082e73ef1 314 dirpin_1.write(a);
s1725696 12:b2b082e73ef1 315 pwmpin_1 = b;
s1725696 12:b2b082e73ef1 316 }
s1725696 12:b2b082e73ef1 317
s1725696 12:b2b082e73ef1 318 // Stop translation
s1725696 12:b2b082e73ef1 319 void translation_stop()
s1725696 12:b2b082e73ef1 320 {
s1725696 12:b2b082e73ef1 321 pwmpin_1 = 0.0;
s1725696 12:b2b082e73ef1 322 }
s1725696 12:b2b082e73ef1 323
s1725696 12:b2b082e73ef1 324 // Start rotation
s1725696 12:b2b082e73ef1 325 void rotation_start(int a, float b)
s1725696 12:b2b082e73ef1 326 {
s1725696 12:b2b082e73ef1 327 dirpin_2.write(a);
s1725696 12:b2b082e73ef1 328 pwmpin_2 = b;
s1725696 12:b2b082e73ef1 329 }
s1725696 12:b2b082e73ef1 330
s1725696 12:b2b082e73ef1 331 // Stop rotation
s1725696 12:b2b082e73ef1 332 void rotation_stop()
s1725696 12:b2b082e73ef1 333 {
s1725696 12:b2b082e73ef1 334 pwmpin_2 = 0.0;
s1725696 12:b2b082e73ef1 335 }
s1725696 12:b2b082e73ef1 336
s1725696 12:b2b082e73ef1 337 // Calibration of translation
s1725696 12:b2b082e73ef1 338 void calibration_translation()
s1725696 12:b2b082e73ef1 339 {
s1725696 12:b2b082e73ef1 340 for(int m = 1; m <= 2; m++) // to do each direction one time
s1725696 12:b2b082e73ef1 341 {
s1725696 14:abc125dcc246 342 // dir = 0, means that the pen moves to the translation motor, dir = 1 means it moves to the rotation motor
s1725696 12:b2b082e73ef1 343 pc.printf("\r\nTranslatie loop\r\n");
s1725696 12:b2b082e73ef1 344 translation_start(dir,speed);
s1725696 12:b2b082e73ef1 345 pc.printf("Direction = %i\r\n", dir);
s1725696 12:b2b082e73ef1 346
s1725696 12:b2b082e73ef1 347 bool g = true; // to make a condition for the while loop
s1725696 12:b2b082e73ef1 348 while (g == true)
s1725696 12:b2b082e73ef1 349 {
s1725696 12:b2b082e73ef1 350 if (button_demo == false) // if button_demo is pushed, the translation should stop and change direction
s1725696 12:b2b082e73ef1 351 {
s1725696 12:b2b082e73ef1 352 translation_stop();
s1725696 12:b2b082e73ef1 353 pos_store(Counts1(counts1));
s1725696 12:b2b082e73ef1 354 pc.printf("position of first tower = %.1f, position of second tower = %.1f, position of rotation motor = %.1f \r\n",tower_1_position,tower_end_position,rotation_start_position);
s1725696 12:b2b082e73ef1 355 dir = dir + 1;
s1725696 12:b2b082e73ef1 356
s1725696 12:b2b082e73ef1 357 g = false; // to end the while loop
s1725696 12:b2b082e73ef1 358 }
s1725696 12:b2b082e73ef1 359
s1725696 12:b2b082e73ef1 360 wait(0.01);
s1725696 12:b2b082e73ef1 361 }
s1725696 12:b2b082e73ef1 362
s1725696 15:2772f8cbf382 363 wait(1.0); // wait 3 seconds before next round of translation/rotation
s1725696 12:b2b082e73ef1 364 }
s1725696 12:b2b082e73ef1 365 }
s1725696 12:b2b082e73ef1 366
s1725696 12:b2b082e73ef1 367 void calibration_rotation()
s1725696 12:b2b082e73ef1 368 {
s1725696 12:b2b082e73ef1 369 rotation_start(dir, speed);
s1725696 12:b2b082e73ef1 370 pc.printf("\r\nRotatie start\r\n");
s1725696 12:b2b082e73ef1 371
s1725696 12:b2b082e73ef1 372 bool f = true; // condition for while loop
s1725696 12:b2b082e73ef1 373 while(f == true)
s1725696 12:b2b082e73ef1 374 {
s1725696 12:b2b082e73ef1 375 if (button_motorcal == false) // If button_motorcal is pushed, then the motor should stop and remain in that position until homing
s1725696 12:b2b082e73ef1 376 {
s1725696 12:b2b082e73ef1 377 rotation_stop();
s1725696 12:b2b082e73ef1 378
s1725696 12:b2b082e73ef1 379 f = false; // to end the while loop
s1725696 12:b2b082e73ef1 380 }
s1725696 12:b2b082e73ef1 381
s1725696 12:b2b082e73ef1 382 wait(0.01);
s1725696 12:b2b082e73ef1 383 }
s1725696 14:abc125dcc246 384 int start_counts = 0;
s1725696 14:abc125dcc246 385 pos_store(Counts2(start_counts));
s1725696 12:b2b082e73ef1 386 pc.printf("position of first tower = %.1f, position of second tower = %.1f, position of rotation motor = %.1f \r\n",tower_1_position,tower_end_position,rotation_start_position);
s1725696 12:b2b082e73ef1 387 }
s1725696 12:b2b082e73ef1 388
s1725696 10:56136a0da8c1 389 void motor_calibration()
s1725696 10:56136a0da8c1 390 {
s1725696 12:b2b082e73ef1 391 // translation
s1725696 12:b2b082e73ef1 392 calibration_translation();
s1725696 12:b2b082e73ef1 393
s1725696 12:b2b082e73ef1 394 pc.printf("before wait\r\n");
s1725696 12:b2b082e73ef1 395 wait(1.5);
s1725696 12:b2b082e73ef1 396
s1725696 12:b2b082e73ef1 397 // rotation
s1725696 12:b2b082e73ef1 398 calibration_rotation();
s1725696 12:b2b082e73ef1 399
s1725696 12:b2b082e73ef1 400 pc.printf("Motor calibration done");
s1725696 10:56136a0da8c1 401 }
s1725696 10:56136a0da8c1 402
s1725696 23:cc8b95d7eb57 403 // WAIT
s1725696 23:cc8b95d7eb57 404 // To do nothing
s1725696 23:cc8b95d7eb57 405 void wait_mode()
s1725696 23:cc8b95d7eb57 406 {
s1725696 23:cc8b95d7eb57 407 // Go back to the initial values
s1725696 23:cc8b95d7eb57 408
s1725696 23:cc8b95d7eb57 409 // All pwm's to zero
s1725696 23:cc8b95d7eb57 410 translation_stop();
s1725696 23:cc8b95d7eb57 411 rotation_stop();
s1725696 23:cc8b95d7eb57 412 // All counts to zero
s1725696 23:cc8b95d7eb57 413 counts1 = 0;
s1725696 23:cc8b95d7eb57 414 counts2 = 0;
s1725696 25:408c2242bdfa 415 // EMG calibration to zero
s1725696 25:408c2242bdfa 416 g = 0;
s1725696 25:408c2242bdfa 417 dir = 0;
s1725696 23:cc8b95d7eb57 418 }
s1725696 23:cc8b95d7eb57 419
s1725696 10:56136a0da8c1 420 // EMG_CAL
s1725696 10:56136a0da8c1 421 // To calibrate the EMG signal to some boundary values
s1725696 13:c087c0f64769 422 // Void to switch between signals to calibrate
s1725696 13:c087c0f64769 423 void switch_to_calibrate()
s1725696 13:c087c0f64769 424 {
s1725696 13:c087c0f64769 425 g++;
s1725696 13:c087c0f64769 426 //If g = 0, led is blue
s1725696 13:c087c0f64769 427 if (g == 0)
s1725696 13:c087c0f64769 428 {
s1725696 13:c087c0f64769 429 led_blue==0;
s1725696 13:c087c0f64769 430 led_red==1;
s1725696 13:c087c0f64769 431 led_green==1;
s1725696 13:c087c0f64769 432 }
s1725696 13:c087c0f64769 433 //If g = 1, led is red
s1725696 13:c087c0f64769 434 else if(g == 1)
s1725696 13:c087c0f64769 435 {
s1725696 13:c087c0f64769 436 led_blue==1;
s1725696 13:c087c0f64769 437 led_red==0;
s1725696 13:c087c0f64769 438 led_green==1;
s1725696 13:c087c0f64769 439 }
s1725696 13:c087c0f64769 440 //If g = 2, led is green
s1725696 13:c087c0f64769 441 else if(g == 2)
s1725696 13:c087c0f64769 442 {
s1725696 13:c087c0f64769 443 led_blue==1;
s1725696 13:c087c0f64769 444 led_red==1;
s1725696 13:c087c0f64769 445 led_green==0;
s1725696 13:c087c0f64769 446 }
s1725696 13:c087c0f64769 447 //If g > 3, led is white
s1725696 13:c087c0f64769 448 else
s1725696 13:c087c0f64769 449 {
s1725696 13:c087c0f64769 450 led_blue==0;
s1725696 13:c087c0f64769 451 led_red==0;
s1725696 13:c087c0f64769 452 led_green==0;
s1725696 13:c087c0f64769 453 emg_calib = 0;
s1725696 13:c087c0f64769 454 g = 0;
s1725696 13:c087c0f64769 455 }
s1725696 14:abc125dcc246 456 }
s1725696 13:c087c0f64769 457
s1725696 13:c087c0f64769 458 // Void to calibrate the signals, depends on value g. While calibrating, maximal contraction is required
s1725696 14:abc125dcc246 459 void calibrate()
s1725696 13:c087c0f64769 460 {
s1725696 13:c087c0f64769 461 switch (g)
s1725696 13:c087c0f64769 462 {
s1725696 13:c087c0f64769 463 case 0:
s1725696 13:c087c0f64769 464 { // Case zero, calibrate EMG signal of right biceps
s1725696 13:c087c0f64769 465 sum = 0.0;
s1725696 13:c087c0f64769 466
s1725696 13:c087c0f64769 467 //For statement to make an array of the latest datapoints of the filtered signal
s1725696 13:c087c0f64769 468 for (int j = 0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 469 {
s1725696 13:c087c0f64769 470
s1725696 13:c087c0f64769 471 StoreCali0[j] = low0; // Stores the latest datapoint in the first element of the array
s1725696 13:c087c0f64769 472 sum+=StoreCali0[j]; // Sums the elements in the array
s1725696 13:c087c0f64769 473 wait(0.001f);
s1725696 13:c087c0f64769 474 }
s1725696 13:c087c0f64769 475 Mean0 = sum/sizeCali; // Calculates the mean of the signal
s1725696 20:645483d7470c 476 Threshold0 = 1.5*Mean0; // Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 477 break;
s1725696 13:c087c0f64769 478 }
s1725696 13:c087c0f64769 479 case 1:
s1725696 13:c087c0f64769 480 { // Case one, calibrate EMG signal of left biceps
s1725696 13:c087c0f64769 481 sum = 0.0;
s1725696 13:c087c0f64769 482 for(int j=0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 483 {
s1725696 13:c087c0f64769 484 StoreCali1[j] = low1;
s1725696 13:c087c0f64769 485 sum+=StoreCali1[j];
s1725696 13:c087c0f64769 486 wait(0.001f);
s1725696 13:c087c0f64769 487 }
s1725696 13:c087c0f64769 488 Mean1 = sum/sizeCali;
s1725696 19:a3a7baab9dbc 489 Threshold1 = 2.0*Mean1; // Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 490 break;
s1725696 13:c087c0f64769 491 }
s1725696 13:c087c0f64769 492 case 2:
s1725696 13:c087c0f64769 493 { // Case two, calibrate EMG signal of calf
s1725696 13:c087c0f64769 494 sum = 0.0;
s1725696 13:c087c0f64769 495 for(int j=0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 496 {
s1725696 13:c087c0f64769 497 StoreCali2[j] = low2;
s1725696 13:c087c0f64769 498 sum+=StoreCali2[j];
s1725696 13:c087c0f64769 499 wait(0.001f);
s1725696 13:c087c0f64769 500 }
s1725696 13:c087c0f64769 501 Mean2 = sum/sizeCali;
s1725696 19:a3a7baab9dbc 502 Threshold2 = 2.0*Mean2; //Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 503 break;
s1725696 13:c087c0f64769 504 }
s1725696 13:c087c0f64769 505 case 3:
s1725696 13:c087c0f64769 506 { // Sets calibration value to 1; robot can be set to Home position
s1725696 13:c087c0f64769 507 emg_calib=1;
s1725696 13:c087c0f64769 508 wait(0.001f);
s1725696 13:c087c0f64769 509 break;
s1725696 13:c087c0f64769 510 }
s1725696 13:c087c0f64769 511 default:
s1725696 13:c087c0f64769 512 { // Ensures nothing happens if g is not equal to 0, 1 or 2.
s1725696 13:c087c0f64769 513 break;
s1725696 13:c087c0f64769 514 }
s1725696 13:c087c0f64769 515 }
s1725696 13:c087c0f64769 516 }
s1725696 13:c087c0f64769 517
s1725696 13:c087c0f64769 518 // Void to calibrate the EMG signal
s1725696 10:56136a0da8c1 519 void emg_calibration()
s1725696 10:56136a0da8c1 520 {
s1725696 13:c087c0f64769 521 for(int m = 1; m <= 4; m++)
s1725696 13:c087c0f64769 522 {
s1725696 13:c087c0f64769 523 led_blue == 0;
s1725696 13:c087c0f64769 524 led_red == 1;
s1725696 17:65943f6e11dc 525 led_green == 1;
s1725696 13:c087c0f64769 526
s1725696 13:c087c0f64769 527 pc.printf("g is %i\n\r",g);
s1725696 13:c087c0f64769 528 pc.printf("Average0 = %f , Average1 = %f, Average2 = %f \n\r",Average0, Average1, Average2);
s1725696 13:c087c0f64769 529 pc.printf("Thresh0 = %f , Thresh1 = %f, Thresh2 = %f \n\r",Threshold0, Threshold1, Threshold2);
s1725696 13:c087c0f64769 530
s1725696 13:c087c0f64769 531 bool k = true;
s1725696 13:c087c0f64769 532 while(k == true)
s1725696 13:c087c0f64769 533 {
s1725696 13:c087c0f64769 534 if(button_motorcal == false)
s1725696 13:c087c0f64769 535 {
s1725696 13:c087c0f64769 536 calibrate(); // Calibrate threshold for 3 muscles
s1725696 13:c087c0f64769 537 k = false;
s1725696 13:c087c0f64769 538 }
s1725696 13:c087c0f64769 539 wait(0.2f); // Wait to avoid bouncing of button
s1725696 13:c087c0f64769 540 }
s1725696 13:c087c0f64769 541
s1725696 13:c087c0f64769 542 bool h = true;
s1725696 13:c087c0f64769 543 while(h == true)
s1725696 13:c087c0f64769 544 {
s1725696 13:c087c0f64769 545 if (button_demo == false)
s1725696 13:c087c0f64769 546 {
s1725696 13:c087c0f64769 547 switch_to_calibrate(); // Switch state of calibration (which muscle)
s1725696 13:c087c0f64769 548 h = false;
s1725696 13:c087c0f64769 549 }
s1725696 13:c087c0f64769 550
s1725696 13:c087c0f64769 551 wait(0.2f); // Wait to avoid bouncing of button
s1725696 13:c087c0f64769 552 }
s1725696 13:c087c0f64769 553 }
s1725696 14:abc125dcc246 554
s1725696 14:abc125dcc246 555 // Turning all leds off
s1725696 14:abc125dcc246 556 led_red == 1;
s1725696 14:abc125dcc246 557 led_blue == 1;
s1725696 14:abc125dcc246 558 led_green == 1;
s1725696 10:56136a0da8c1 559 }
s1725696 0:cb8857cf3ea4 560
s1725696 10:56136a0da8c1 561 // START
s1725696 0:cb8857cf3ea4 562 // To move the robot to the starting position: middle
s1725696 10:56136a0da8c1 563 void start_mode()
s1725696 4:8183e7b228f0 564 {
s1725696 12:b2b082e73ef1 565 // move to middle, only motor1 has to do something, the other one you can move yourself during the calibration
s1725696 18:db53ac017f50 566 int a = tower_end_position - ((tower_end_position - tower_1_position)/2);
s1725696 18:db53ac017f50 567 pc.printf("position middle = %i, position pen = %i \r\n", a, Counts1(counts1));
s1725696 18:db53ac017f50 568
s1725696 14:abc125dcc246 569 //translation home
s1725696 18:db53ac017f50 570 if (Counts1(counts1) > a)
s1725696 14:abc125dcc246 571 {
s1725696 18:db53ac017f50 572 translation_start(1,1.0);
s1725696 18:db53ac017f50 573 pc.printf("start to 1 \r\n");
s1725696 14:abc125dcc246 574 }
s1725696 14:abc125dcc246 575 else {
s1725696 18:db53ac017f50 576 translation_start(0,1.0);
s1725696 18:db53ac017f50 577 pc.printf("start to 0 \r\n");
s1725696 14:abc125dcc246 578 }
s1725696 18:db53ac017f50 579 while(true){
s1725696 18:db53ac017f50 580 if ((Counts1(counts1) > (a - 500)) && (Counts1(counts1) < (a + 500)))
s1725696 14:abc125dcc246 581 {
s1725696 14:abc125dcc246 582 translation_stop();
s1725696 18:db53ac017f50 583 pc.printf("stop \r\n");
s1725696 18:db53ac017f50 584 break;
s1725696 14:abc125dcc246 585 }
s1725696 4:8183e7b228f0 586 }
s1725696 18:db53ac017f50 587 }
s1574396 22:be961d1830bb 588
s1725696 10:56136a0da8c1 589 // OPERATING
s1725696 0:cb8857cf3ea4 590 // To control the robot with EMG signals
s1725696 17:65943f6e11dc 591 // Function for using muscle for direction control
s1725696 17:65943f6e11dc 592 void Directioncontrol()
s1725696 20:645483d7470c 593 {
s1725696 17:65943f6e11dc 594 switch (currentdirection)
s1725696 17:65943f6e11dc 595 {
s1725696 17:65943f6e11dc 596 case Pos_RB:
s1725696 17:65943f6e11dc 597
s1574396 22:be961d1830bb 598 out1 = out1;
s1574396 22:be961d1830bb 599 out2 = out2;
s1725696 17:65943f6e11dc 600 directionchanged = false;
s1725696 21:bf09f236c9fa 601 led_red == 0;
s1574396 22:be961d1830bb 602
s1725696 17:65943f6e11dc 603
s1725696 17:65943f6e11dc 604 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 605 {
s1725696 17:65943f6e11dc 606 currentdirection = Pos_LB;
s1725696 17:65943f6e11dc 607 pc.printf("\r\n direction = Pos_LB\r\n");
s1725696 17:65943f6e11dc 608 directionchanged = true;
s1725696 17:65943f6e11dc 609 }
s1574396 22:be961d1830bb 610 wait(0.5); // wait 0.5 seconds, otherwise it goes directly to the next case
s1725696 17:65943f6e11dc 611 break;
s1725696 17:65943f6e11dc 612
s1725696 17:65943f6e11dc 613 case Pos_LB:
s1574396 22:be961d1830bb 614
s1574396 22:be961d1830bb 615 out1 = out1 * -1.0;
s1574396 22:be961d1830bb 616 out2 = out2;
s1725696 17:65943f6e11dc 617 directionchanged = false;
s1725696 21:bf09f236c9fa 618 led_blue == 0;
s1574396 22:be961d1830bb 619
s1725696 17:65943f6e11dc 620 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 621 {
s1725696 17:65943f6e11dc 622 currentdirection = Pos_RO;
s1725696 17:65943f6e11dc 623 pc.printf("\r\n direction = Pos_RO\r\n");
s1725696 17:65943f6e11dc 624 directionchanged = true;
s1725696 17:65943f6e11dc 625 }
s1725696 20:645483d7470c 626 wait(0.5);
s1725696 17:65943f6e11dc 627 break;
s1725696 17:65943f6e11dc 628
s1725696 17:65943f6e11dc 629 case Pos_RO:
s1725696 17:65943f6e11dc 630
s1574396 22:be961d1830bb 631 out1 = out1;
s1574396 22:be961d1830bb 632 out2 = out2 * -1.0;
s1725696 17:65943f6e11dc 633 directionchanged = false;
s1725696 21:bf09f236c9fa 634 led_green == 0;
s1574396 22:be961d1830bb 635
s1725696 17:65943f6e11dc 636 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 637 {
s1725696 17:65943f6e11dc 638 currentdirection = Pos_LO;
s1725696 17:65943f6e11dc 639 pc.printf("\r\n direction = Pos_LO\r\n");
s1725696 17:65943f6e11dc 640 directionchanged = true;
s1725696 17:65943f6e11dc 641 }
s1725696 20:645483d7470c 642 wait(0.5);
s1725696 17:65943f6e11dc 643 break;
s1725696 17:65943f6e11dc 644
s1725696 17:65943f6e11dc 645 case Pos_LO:
s1574396 22:be961d1830bb 646 out1 = out1 * -1.0;
s1574396 22:be961d1830bb 647 out2 = out2 * -1.0;
s1725696 17:65943f6e11dc 648 directionchanged = false;
s1725696 21:bf09f236c9fa 649 led_red == 0;
s1725696 21:bf09f236c9fa 650 led_blue == 0;
s1725696 21:bf09f236c9fa 651 led_green == 0;
s1574396 22:be961d1830bb 652
s1725696 17:65943f6e11dc 653
s1725696 17:65943f6e11dc 654 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 655 {
s1725696 17:65943f6e11dc 656 currentdirection = Pos_RB;
s1725696 17:65943f6e11dc 657 pc.printf("\r\n direction = Pos_RB\r\n");
s1725696 17:65943f6e11dc 658 directionchanged = true;
s1725696 17:65943f6e11dc 659 }
s1725696 20:645483d7470c 660 wait(0.5);
s1725696 17:65943f6e11dc 661 break;
s1725696 17:65943f6e11dc 662 }
s1725696 19:a3a7baab9dbc 663 }
s1725696 17:65943f6e11dc 664
s1725696 17:65943f6e11dc 665 // PID controller
s1725696 17:65943f6e11dc 666 // To control the input signal before it goes into the motor control
s1725696 17:65943f6e11dc 667 // PID execution
s1725696 17:65943f6e11dc 668 double PID_control(volatile double error, const double kp, const double ki, const double kd, volatile double &error_int, volatile double &error_prev)
s1725696 17:65943f6e11dc 669 {
s1725696 17:65943f6e11dc 670 // P control
s1725696 17:65943f6e11dc 671 double u_k = kp * error;
s1725696 17:65943f6e11dc 672
s1725696 17:65943f6e11dc 673 // I control
s1725696 17:65943f6e11dc 674 error_int = error_int + (Ts * error);
s1725696 17:65943f6e11dc 675 double u_i = ki * error_int;
s1725696 17:65943f6e11dc 676
s1725696 17:65943f6e11dc 677 // D control
s1725696 17:65943f6e11dc 678 double error_deriv = (error - error_prev);
s1725696 17:65943f6e11dc 679 double u_d = kd * error_deriv;
s1725696 17:65943f6e11dc 680 error_prev = error;
s1725696 17:65943f6e11dc 681
s1725696 17:65943f6e11dc 682 return u_k + u_i + u_d;
s1725696 17:65943f6e11dc 683 }
s1725696 17:65943f6e11dc 684
s1725696 16:37b491eac34b 685 void boundaries()
s1725696 16:37b491eac34b 686 {
s1725696 16:37b491eac34b 687 double q2tot = q2 + dq2;
s1725696 16:37b491eac34b 688 if (q2tot > q2end)
s1725696 16:37b491eac34b 689 {
s1725696 16:37b491eac34b 690 dq2 = 0;
s1725696 16:37b491eac34b 691 } //kan ook zeggen q2end-q2 is dat dan juiste waarde of moet q2-q2end?
s1725696 16:37b491eac34b 692 else if (q2tot < q2start)
s1725696 16:37b491eac34b 693 {
s1725696 16:37b491eac34b 694 dq2 = 0;
s1725696 16:37b491eac34b 695 }
s1725696 16:37b491eac34b 696 }
s1725696 16:37b491eac34b 697
s1725696 16:37b491eac34b 698 void motor_control()
s1725696 12:b2b082e73ef1 699 {
s1725696 16:37b491eac34b 700 // servocontrol(); // make sure the servo is used in this mode, maybe attach to a ticker?
s1725696 17:65943f6e11dc 701
s1725696 17:65943f6e11dc 702 // filtering emg
s1725696 17:65943f6e11dc 703
s1725696 17:65943f6e11dc 704 if (Average0 > Threshold0)
s1725696 17:65943f6e11dc 705 {
s1725696 17:65943f6e11dc 706 desired_x = 1.0;
s1725696 17:65943f6e11dc 707 }
s1725696 20:645483d7470c 708 else
s1725696 20:645483d7470c 709 {
s1725696 20:645483d7470c 710 desired_x = 0.0;
s1725696 20:645483d7470c 711 }
s1725696 17:65943f6e11dc 712
s1725696 17:65943f6e11dc 713 if (Average1 > Threshold1)
s1725696 17:65943f6e11dc 714 {
s1725696 17:65943f6e11dc 715 desired_y = 1.0;
s1725696 17:65943f6e11dc 716 }
s1725696 20:645483d7470c 717 else
s1725696 20:645483d7470c 718 {
s1725696 20:645483d7470c 719 desired_y = 0.0;
s1725696 20:645483d7470c 720 }
s1725696 17:65943f6e11dc 721
s1574396 22:be961d1830bb 722 // calling functions
s1725696 17:65943f6e11dc 723
s1725696 17:65943f6e11dc 724
s1725696 17:65943f6e11dc 725 // motor control
s1725696 20:645483d7470c 726 out1 = desired_x; //control x-direction
s1725696 20:645483d7470c 727 out2 = desired_y; //control y-direction
s1574396 22:be961d1830bb 728 Directioncontrol();
s1725696 16:37b491eac34b 729 vdesx = out1 * 20.0; //speed x-direction
s1725696 16:37b491eac34b 730 vdesy = out2 * 20.0; //speed y-direction
s1725696 16:37b491eac34b 731
s1725696 18:db53ac017f50 732 q1 = Counts2(counts2) * alpha + q1start; //counts to rotation (rad)
s1725696 18:db53ac017f50 733 q2 = Counts1(counts1)* beta + q2start; //counts to translation (mm)
s1725696 17:65943f6e11dc 734 MPe = el_1 - el_2 + q2; //x location end effector, x-axis along the translation
s1725696 16:37b491eac34b 735 xe = cos(q1) * MPe; //x location in frame 0
s1725696 16:37b491eac34b 736 ye = sin(q1) * MPe; //y location in frame 0
s1725696 16:37b491eac34b 737 gamma = 1.0 /((-1.0 * ye * sin(q1)) - (xe * cos(q1))); //(1 / det(J'')inverse)
s1725696 16:37b491eac34b 738 dq1 = gamma * delta_t * (sin(q1) * vdesx - cos(q1) * vdesy); //target rotation
s1725696 20:645483d7470c 739 dq2 = gamma * delta_t * (xe * vdesx + ye * vdesy) * -1.0; //target translation
s1574396 22:be961d1830bb 740 //boundaries();
s1725696 16:37b491eac34b 741 dC1 = PID_control( dq1, Rot_Kp, Rot_Ki, Rot_Kd, Rot_error, Rot_prev_error) / alpha; //target rotation to counts
s1725696 16:37b491eac34b 742 dC2 = PID_control( dq2, Trans_Kp, Trans_Ki, Trans_Kd, Trans_error, Trans_prev_error) / beta; //target translation to counts
s1725696 16:37b491eac34b 743 pwm1 = 3.0 * (dC1 / delta_t) / 8400.0; //
s1574396 22:be961d1830bb 744 pwm2 = 7.0 * (dC2 / delta_t) / 8400.0; //
s1725696 18:db53ac017f50 745 dirpin_1.write(pwm2 < 0); // translatie
s1725696 18:db53ac017f50 746 pwmpin_1 = fabs (pwm2);
s1725696 18:db53ac017f50 747 dirpin_2.write(pwm1 < 0); // rotatie
s1725696 18:db53ac017f50 748 pwmpin_2 = fabs (pwm1);
s1725696 16:37b491eac34b 749 }
s1725696 0:cb8857cf3ea4 750
s1725696 10:56136a0da8c1 751 // DEMO
s1725696 0:cb8857cf3ea4 752 // To control the robot with a written code and write 'HELLO'
s1725696 4:8183e7b228f0 753 // Voor het laatst bewaren
s1725696 10:56136a0da8c1 754 void demo_mode()
s1725696 10:56136a0da8c1 755 {
s1725696 10:56136a0da8c1 756 // code here
s1725696 10:56136a0da8c1 757 }
s1725696 0:cb8857cf3ea4 758
s1725696 10:56136a0da8c1 759 // FAILURE
s1725696 0:cb8857cf3ea4 760 // To shut down the robot after an error etc
s1725696 13:c087c0f64769 761 void failure_mode()
s1725696 10:56136a0da8c1 762 {
s1725696 18:db53ac017f50 763 if (button_emergency == false) // condition for MOTOR_CAL --> FAILURE; button_emergency press
s1725696 18:db53ac017f50 764 {
s1725696 18:db53ac017f50 765 led_red == 0; // turning red led on to show emergency mode
s1725696 14:abc125dcc246 766
s1725696 18:db53ac017f50 767 // all pwmpins zero
s1725696 18:db53ac017f50 768 pwmpin_1 = 0.0;
s1725696 18:db53ac017f50 769 pwmpin_2 = 0.0;
s1725696 14:abc125dcc246 770
s1725696 18:db53ac017f50 771 // Servo up?
s1725696 18:db53ac017f50 772 // myservo = 0.1;
s1725696 14:abc125dcc246 773
s1725696 18:db53ac017f50 774 pc.printf("\r\nEmergency mode, reset system to continue\r\n");
s1725696 18:db53ac017f50 775 }
s1725696 10:56136a0da8c1 776 }
s1725696 0:cb8857cf3ea4 777
s1725696 0:cb8857cf3ea4 778 // Main function
s1725696 4:8183e7b228f0 779 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 780 int main()
s1725696 0:cb8857cf3ea4 781 {
s1725696 0:cb8857cf3ea4 782 pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself!
s1725696 0:cb8857cf3ea4 783 pc.printf("Start code\r\n"); // To check if the program starts
s1725696 9:d7a6a3619576 784 pwmpin_1.period_us(60); // Setting period for PWM
s1725696 17:65943f6e11dc 785 process_tick.attach(&processing_emg,T); // EMG signals must be filtered all the time! EMG signals filtered every T sec.
s1725696 18:db53ac017f50 786 emergency.attach(&failure_mode,0.01); // To make sure you can go to emergency mode all the time
s1725696 1:1a8211e1f3f3 787
s1725696 1:1a8211e1f3f3 788 while(true){
s1725696 6:f495a77c2c95 789 // timer
s1725696 6:f495a77c2c95 790 clock_t start; // start the timer
s1725696 6:f495a77c2c95 791 start = clock();
s1725696 9:d7a6a3619576 792 time_overall = (clock() - start) / (double) CLOCKS_PER_SEC;
s1725696 14:abc125dcc246 793 myservo = 0.1; // Keep the pen lifted until servo function is called (operation mode)
s1725696 5:3581013d4505 794
s1725696 6:f495a77c2c95 795 //pc.printf("potmeter value = %f ", potmeter_value);
s1725696 6:f495a77c2c95 796 //pc.printf("counts = %i\r\n", counts);
s1725696 5:3581013d4505 797
s1725696 6:f495a77c2c95 798 // With the help of a switch loop and states we can switch between states and the robot knows what to do
s1725696 9:d7a6a3619576 799 switch(CurrentState)
s1725696 6:f495a77c2c95 800 {
s1725696 6:f495a77c2c95 801 case WAIT:
s1725696 6:f495a77c2c95 802
s1725696 24:ebcb41126f21 803 StateChanged = true;
s1725696 24:ebcb41126f21 804 pc.printf("\r\nState is WAIT\r\n");
s1725696 24:ebcb41126f21 805
s1725696 6:f495a77c2c95 806 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 807 {
s1725696 6:f495a77c2c95 808 // Execute WAIT mode
s1725696 10:56136a0da8c1 809 wait_mode();
s1725696 10:56136a0da8c1 810
s1725696 6:f495a77c2c95 811 StateChanged = false; // the state is still WAIT
s1725696 6:f495a77c2c95 812 }
s1725696 6:f495a77c2c95 813
s1725696 12:b2b082e73ef1 814 if(button_motorcal == false) // condition for WAIT --> MOTOR_CAl; button_motorcal press
s1725696 6:f495a77c2c95 815 {
s1725696 6:f495a77c2c95 816 CurrentState = MOTOR_CAL;
s1725696 18:db53ac017f50 817 pc.printf("\r\nState is MOTOR_CAL\r\n");
s1725696 7:ec5add330cb3 818 StateChanged = true;
s1725696 7:ec5add330cb3 819 }
s1725696 6:f495a77c2c95 820
s1725696 6:f495a77c2c95 821 break;
s1725696 6:f495a77c2c95 822
s1725696 6:f495a77c2c95 823 case MOTOR_CAL:
s1725696 6:f495a77c2c95 824
s1725696 6:f495a77c2c95 825 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 826 {
s1725696 6:f495a77c2c95 827 // Execute MOTOR_CAL mode
s1725696 10:56136a0da8c1 828 motor_calibration();
s1725696 10:56136a0da8c1 829
s1725696 6:f495a77c2c95 830 StateChanged = false; // the state is still MOTOR_CAL
s1725696 6:f495a77c2c95 831 }
s1725696 6:f495a77c2c95 832
s1725696 18:db53ac017f50 833 if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for MOTOR_CAL --> EMG_CAL; 3s and motors stopped moving
s1725696 6:f495a77c2c95 834 {
s1725696 6:f495a77c2c95 835 CurrentState = EMG_CAL;
s1725696 18:db53ac017f50 836 pc.printf("\r\nState is EMG_CAL\r\n");
s1725696 6:f495a77c2c95 837 StateChanged = true;
s1725696 6:f495a77c2c95 838 }
s1725696 18:db53ac017f50 839
s1725696 6:f495a77c2c95 840 break;
s1725696 6:f495a77c2c95 841
s1725696 6:f495a77c2c95 842 case EMG_CAL:
s1725696 6:f495a77c2c95 843
s1725696 6:f495a77c2c95 844 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 845 {
s1725696 6:f495a77c2c95 846 // Execute EMG_CAL mode
s1725696 10:56136a0da8c1 847 emg_calibration();
s1725696 10:56136a0da8c1 848
s1725696 6:f495a77c2c95 849 StateChanged = false; // state is still EMG_CAL
s1725696 6:f495a77c2c95 850 }
s1725696 6:f495a77c2c95 851
s1725696 18:db53ac017f50 852 if((Average0 < 0.04) && (Average1 < 0.04) && (Average2 < 0.04)) // condition for EMG_CAL --> START; 5s and EMG is low
s1725696 6:f495a77c2c95 853 {
s1725696 6:f495a77c2c95 854 CurrentState = START;
s1725696 18:db53ac017f50 855 pc.printf("\r\nState is START\r\n");
s1725696 7:ec5add330cb3 856 StateChanged = true;
s1725696 7:ec5add330cb3 857 }
s1725696 7:ec5add330cb3 858
s1725696 6:f495a77c2c95 859 break;
s1725696 6:f495a77c2c95 860
s1725696 6:f495a77c2c95 861 case START:
s1725696 6:f495a77c2c95 862
s1725696 6:f495a77c2c95 863 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 864 {
s1725696 6:f495a77c2c95 865 // Execute START mode
s1725696 10:56136a0da8c1 866 start_mode();
s1725696 10:56136a0da8c1 867
s1725696 18:db53ac017f50 868 pc.printf("pwmpin_1 = %f pwmpin_2 = %f \r\n", pwmpin_1, pwmpin_2);
s1725696 10:56136a0da8c1 869
s1725696 6:f495a77c2c95 870 StateChanged = false; // state is still START
s1725696 6:f495a77c2c95 871 }
s1725696 6:f495a77c2c95 872
s1725696 18:db53ac017f50 873 if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for START --> OPERATING; 5s and motors stopped moving
s1725696 6:f495a77c2c95 874 {
s1725696 6:f495a77c2c95 875 CurrentState = OPERATING;
s1725696 18:db53ac017f50 876 pc.printf("\r\nState is OPERATING\r\n");
s1725696 6:f495a77c2c95 877 StateChanged = true;
s1725696 6:f495a77c2c95 878 }
s1725696 18:db53ac017f50 879
s1725696 6:f495a77c2c95 880 break;
s1725696 6:f495a77c2c95 881
s1725696 6:f495a77c2c95 882 case OPERATING:
s1725696 6:f495a77c2c95 883
s1725696 6:f495a77c2c95 884 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 885 {
s1725696 6:f495a77c2c95 886 // Execute OPERATING mode
s1725696 24:ebcb41126f21 887 bool g = true;
s1725696 24:ebcb41126f21 888 while(g == true)
s1725696 16:37b491eac34b 889 {
s1725696 16:37b491eac34b 890 motor_control();
s1725696 16:37b491eac34b 891 pc.printf("PWM_rot = %f PWM_trans = %f VdesX = %f VdesY = %f \n\r",pwm1,pwm2,vdesx,vdesy);
s1574396 22:be961d1830bb 892 pc.printf("out1 = %f out2 = %f \n\r", out1, out2);
s1574396 22:be961d1830bb 893 //pc.printf("Average0 = %f Average1 = %f Average2 = %f\r\n", Average0,Average1,Average2);
s1725696 17:65943f6e11dc 894
s1725696 17:65943f6e11dc 895 if(button_wait == false) // condition OPERATING --> WAIT; button_wait press
s1725696 17:65943f6e11dc 896 {
s1725696 17:65943f6e11dc 897 CurrentState = WAIT;
s1725696 18:db53ac017f50 898 pc.printf("\r\nState is WAIT\r\n");
s1725696 24:ebcb41126f21 899 g = false;
s1725696 17:65943f6e11dc 900 break;
s1725696 17:65943f6e11dc 901 }
s1725696 17:65943f6e11dc 902
s1725696 16:37b491eac34b 903 wait(delta_t);
s1725696 16:37b491eac34b 904 }
s1725696 24:ebcb41126f21 905
s1725696 6:f495a77c2c95 906 StateChanged = false; // state is still OPERATING
s1725696 6:f495a77c2c95 907 }
s1725696 6:f495a77c2c95 908
s1725696 6:f495a77c2c95 909 break;
s1725696 20:645483d7470c 910
s1725696 6:f495a77c2c95 911 // no default
s1725696 4:8183e7b228f0 912 }
s1725696 6:f495a77c2c95 913
s1725696 6:f495a77c2c95 914 // while loop does not have to loop every time
s1725696 5:3581013d4505 915 }
s1725696 5:3581013d4505 916
s1725696 0:cb8857cf3ea4 917 }