The code without functions and variables filled in
Dependencies: HIDScope Servo mbed QEI biquadFilter
THE.cpp@33:a03bb006dff4, 2018-11-02 (annotated)
- Committer:
- s1725696
- Date:
- Fri Nov 02 15:29:56 2018 +0000
- Revision:
- 33:a03bb006dff4
- Parent:
- 32:fad4b119dce0
- Child:
- 34:23eedc10a4f7
without demo mode, not ready for report yet
Who changed what in which revision?
User | Revision | Line number | New 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 | 26:0b029c8623fe | 29 | DigitalOut led_red(LED_RED); // red led |
s1725696 | 26:0b029c8623fe | 30 | DigitalOut led_green(LED_GREEN); // green led |
s1725696 | 26:0b029c8623fe | 31 | DigitalOut 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 | 33:a03bb006dff4 | 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 | 26:0b029c8623fe | 408 | led_red = 1; |
s1725696 | 26:0b029c8623fe | 409 | led_blue = 1; |
s1725696 | 26:0b029c8623fe | 410 | led_green = 1; |
s1725696 | 23:cc8b95d7eb57 | 411 | |
s1725696 | 23:cc8b95d7eb57 | 412 | // All pwm's to zero |
s1725696 | 23:cc8b95d7eb57 | 413 | translation_stop(); |
s1725696 | 23:cc8b95d7eb57 | 414 | rotation_stop(); |
s1725696 | 23:cc8b95d7eb57 | 415 | // All counts to zero |
s1725696 | 23:cc8b95d7eb57 | 416 | counts1 = 0; |
s1725696 | 23:cc8b95d7eb57 | 417 | counts2 = 0; |
s1725696 | 25:408c2242bdfa | 418 | // EMG calibration to zero |
s1725696 | 25:408c2242bdfa | 419 | g = 0; |
s1725696 | 25:408c2242bdfa | 420 | dir = 0; |
s1725696 | 23:cc8b95d7eb57 | 421 | } |
s1725696 | 23:cc8b95d7eb57 | 422 | |
s1725696 | 10:56136a0da8c1 | 423 | // EMG_CAL |
s1725696 | 10:56136a0da8c1 | 424 | // To calibrate the EMG signal to some boundary values |
s1725696 | 13:c087c0f64769 | 425 | // Void to switch between signals to calibrate |
s1725696 | 13:c087c0f64769 | 426 | void switch_to_calibrate() |
s1725696 | 13:c087c0f64769 | 427 | { |
s1725696 | 13:c087c0f64769 | 428 | g++; |
s1725696 | 13:c087c0f64769 | 429 | //If g = 0, led is blue |
s1725696 | 13:c087c0f64769 | 430 | if (g == 0) |
s1725696 | 13:c087c0f64769 | 431 | { |
s1725696 | 26:0b029c8623fe | 432 | led_blue=0; |
s1725696 | 26:0b029c8623fe | 433 | led_red=1; |
s1725696 | 26:0b029c8623fe | 434 | led_green=1; |
s1725696 | 13:c087c0f64769 | 435 | } |
s1725696 | 13:c087c0f64769 | 436 | //If g = 1, led is red |
s1725696 | 13:c087c0f64769 | 437 | else if(g == 1) |
s1725696 | 13:c087c0f64769 | 438 | { |
s1725696 | 26:0b029c8623fe | 439 | led_blue=1; |
s1725696 | 26:0b029c8623fe | 440 | led_red=0; |
s1725696 | 26:0b029c8623fe | 441 | led_green=1; |
s1725696 | 13:c087c0f64769 | 442 | } |
s1725696 | 13:c087c0f64769 | 443 | //If g = 2, led is green |
s1725696 | 13:c087c0f64769 | 444 | else if(g == 2) |
s1725696 | 13:c087c0f64769 | 445 | { |
s1725696 | 26:0b029c8623fe | 446 | led_blue=1; |
s1725696 | 26:0b029c8623fe | 447 | led_red=1; |
s1725696 | 26:0b029c8623fe | 448 | led_green=0; |
s1725696 | 13:c087c0f64769 | 449 | } |
s1725696 | 13:c087c0f64769 | 450 | //If g > 3, led is white |
s1725696 | 13:c087c0f64769 | 451 | else |
s1725696 | 13:c087c0f64769 | 452 | { |
s1725696 | 26:0b029c8623fe | 453 | led_blue=0; |
s1725696 | 26:0b029c8623fe | 454 | led_red=0; |
s1725696 | 26:0b029c8623fe | 455 | led_green=0; |
s1725696 | 13:c087c0f64769 | 456 | emg_calib = 0; |
s1725696 | 13:c087c0f64769 | 457 | g = 0; |
s1725696 | 13:c087c0f64769 | 458 | } |
s1725696 | 14:abc125dcc246 | 459 | } |
s1725696 | 13:c087c0f64769 | 460 | |
s1725696 | 13:c087c0f64769 | 461 | // Void to calibrate the signals, depends on value g. While calibrating, maximal contraction is required |
s1725696 | 14:abc125dcc246 | 462 | void calibrate() |
s1725696 | 13:c087c0f64769 | 463 | { |
s1725696 | 13:c087c0f64769 | 464 | switch (g) |
s1725696 | 13:c087c0f64769 | 465 | { |
s1725696 | 13:c087c0f64769 | 466 | case 0: |
s1725696 | 13:c087c0f64769 | 467 | { // Case zero, calibrate EMG signal of right biceps |
s1725696 | 13:c087c0f64769 | 468 | sum = 0.0; |
s1725696 | 13:c087c0f64769 | 469 | |
s1725696 | 13:c087c0f64769 | 470 | //For statement to make an array of the latest datapoints of the filtered signal |
s1725696 | 13:c087c0f64769 | 471 | for (int j = 0; j<=sizeCali-1; j++) |
s1725696 | 13:c087c0f64769 | 472 | { |
s1725696 | 13:c087c0f64769 | 473 | |
s1725696 | 13:c087c0f64769 | 474 | StoreCali0[j] = low0; // Stores the latest datapoint in the first element of the array |
s1725696 | 13:c087c0f64769 | 475 | sum+=StoreCali0[j]; // Sums the elements in the array |
s1725696 | 13:c087c0f64769 | 476 | wait(0.001f); |
s1725696 | 13:c087c0f64769 | 477 | } |
s1725696 | 13:c087c0f64769 | 478 | Mean0 = sum/sizeCali; // Calculates the mean of the signal |
s1725696 | 20:645483d7470c | 479 | Threshold0 = 1.5*Mean0; // Factor *2 is for resting and *1 is for max contraction |
s1725696 | 13:c087c0f64769 | 480 | break; |
s1725696 | 13:c087c0f64769 | 481 | } |
s1725696 | 13:c087c0f64769 | 482 | case 1: |
s1725696 | 13:c087c0f64769 | 483 | { // Case one, calibrate EMG signal of left biceps |
s1725696 | 13:c087c0f64769 | 484 | sum = 0.0; |
s1725696 | 13:c087c0f64769 | 485 | for(int j=0; j<=sizeCali-1; j++) |
s1725696 | 13:c087c0f64769 | 486 | { |
s1725696 | 13:c087c0f64769 | 487 | StoreCali1[j] = low1; |
s1725696 | 13:c087c0f64769 | 488 | sum+=StoreCali1[j]; |
s1725696 | 13:c087c0f64769 | 489 | wait(0.001f); |
s1725696 | 13:c087c0f64769 | 490 | } |
s1725696 | 13:c087c0f64769 | 491 | Mean1 = sum/sizeCali; |
s1725696 | 19:a3a7baab9dbc | 492 | Threshold1 = 2.0*Mean1; // Factor *2 is for resting and *1 is for max contraction |
s1725696 | 13:c087c0f64769 | 493 | break; |
s1725696 | 13:c087c0f64769 | 494 | } |
s1725696 | 13:c087c0f64769 | 495 | case 2: |
s1725696 | 13:c087c0f64769 | 496 | { // Case two, calibrate EMG signal of calf |
s1725696 | 13:c087c0f64769 | 497 | sum = 0.0; |
s1725696 | 13:c087c0f64769 | 498 | for(int j=0; j<=sizeCali-1; j++) |
s1725696 | 13:c087c0f64769 | 499 | { |
s1725696 | 13:c087c0f64769 | 500 | StoreCali2[j] = low2; |
s1725696 | 13:c087c0f64769 | 501 | sum+=StoreCali2[j]; |
s1725696 | 13:c087c0f64769 | 502 | wait(0.001f); |
s1725696 | 13:c087c0f64769 | 503 | } |
s1725696 | 13:c087c0f64769 | 504 | Mean2 = sum/sizeCali; |
s1725696 | 19:a3a7baab9dbc | 505 | Threshold2 = 2.0*Mean2; //Factor *2 is for resting and *1 is for max contraction |
s1725696 | 13:c087c0f64769 | 506 | break; |
s1725696 | 13:c087c0f64769 | 507 | } |
s1725696 | 13:c087c0f64769 | 508 | case 3: |
s1725696 | 13:c087c0f64769 | 509 | { // Sets calibration value to 1; robot can be set to Home position |
s1725696 | 13:c087c0f64769 | 510 | emg_calib=1; |
s1725696 | 13:c087c0f64769 | 511 | wait(0.001f); |
s1725696 | 13:c087c0f64769 | 512 | break; |
s1725696 | 13:c087c0f64769 | 513 | } |
s1725696 | 13:c087c0f64769 | 514 | default: |
s1725696 | 13:c087c0f64769 | 515 | { // Ensures nothing happens if g is not equal to 0, 1 or 2. |
s1725696 | 13:c087c0f64769 | 516 | break; |
s1725696 | 13:c087c0f64769 | 517 | } |
s1725696 | 13:c087c0f64769 | 518 | } |
s1725696 | 13:c087c0f64769 | 519 | } |
s1725696 | 13:c087c0f64769 | 520 | |
s1725696 | 13:c087c0f64769 | 521 | // Void to calibrate the EMG signal |
s1725696 | 10:56136a0da8c1 | 522 | void emg_calibration() |
s1725696 | 10:56136a0da8c1 | 523 | { |
s1725696 | 13:c087c0f64769 | 524 | for(int m = 1; m <= 4; m++) |
s1725696 | 13:c087c0f64769 | 525 | { |
s1725696 | 26:0b029c8623fe | 526 | led_blue = 0; |
s1725696 | 26:0b029c8623fe | 527 | led_red = 1; |
s1725696 | 26:0b029c8623fe | 528 | led_green = 1; |
s1725696 | 13:c087c0f64769 | 529 | |
s1725696 | 13:c087c0f64769 | 530 | pc.printf("g is %i\n\r",g); |
s1725696 | 13:c087c0f64769 | 531 | pc.printf("Average0 = %f , Average1 = %f, Average2 = %f \n\r",Average0, Average1, Average2); |
s1725696 | 13:c087c0f64769 | 532 | pc.printf("Thresh0 = %f , Thresh1 = %f, Thresh2 = %f \n\r",Threshold0, Threshold1, Threshold2); |
s1725696 | 13:c087c0f64769 | 533 | |
s1725696 | 13:c087c0f64769 | 534 | bool k = true; |
s1725696 | 13:c087c0f64769 | 535 | while(k == true) |
s1725696 | 13:c087c0f64769 | 536 | { |
s1725696 | 13:c087c0f64769 | 537 | if(button_motorcal == false) |
s1725696 | 13:c087c0f64769 | 538 | { |
s1725696 | 13:c087c0f64769 | 539 | calibrate(); // Calibrate threshold for 3 muscles |
s1725696 | 13:c087c0f64769 | 540 | k = false; |
s1725696 | 13:c087c0f64769 | 541 | } |
s1725696 | 13:c087c0f64769 | 542 | wait(0.2f); // Wait to avoid bouncing of button |
s1725696 | 13:c087c0f64769 | 543 | } |
s1725696 | 13:c087c0f64769 | 544 | |
s1725696 | 13:c087c0f64769 | 545 | bool h = true; |
s1725696 | 13:c087c0f64769 | 546 | while(h == true) |
s1725696 | 13:c087c0f64769 | 547 | { |
s1725696 | 13:c087c0f64769 | 548 | if (button_demo == false) |
s1725696 | 13:c087c0f64769 | 549 | { |
s1725696 | 13:c087c0f64769 | 550 | switch_to_calibrate(); // Switch state of calibration (which muscle) |
s1725696 | 13:c087c0f64769 | 551 | h = false; |
s1725696 | 13:c087c0f64769 | 552 | } |
s1725696 | 13:c087c0f64769 | 553 | |
s1725696 | 13:c087c0f64769 | 554 | wait(0.2f); // Wait to avoid bouncing of button |
s1725696 | 13:c087c0f64769 | 555 | } |
s1725696 | 13:c087c0f64769 | 556 | } |
s1725696 | 26:0b029c8623fe | 557 | |
s1725696 | 14:abc125dcc246 | 558 | // Turning all leds off |
s1725696 | 26:0b029c8623fe | 559 | led_red = 1; |
s1725696 | 26:0b029c8623fe | 560 | led_blue = 1; |
s1725696 | 26:0b029c8623fe | 561 | led_green = 1; |
s1725696 | 10:56136a0da8c1 | 562 | } |
s1725696 | 0:cb8857cf3ea4 | 563 | |
s1725696 | 10:56136a0da8c1 | 564 | // START |
s1725696 | 0:cb8857cf3ea4 | 565 | // To move the robot to the starting position: middle |
s1725696 | 10:56136a0da8c1 | 566 | void start_mode() |
s1725696 | 4:8183e7b228f0 | 567 | { |
s1725696 | 12:b2b082e73ef1 | 568 | // move to middle, only motor1 has to do something, the other one you can move yourself during the calibration |
s1725696 | 18:db53ac017f50 | 569 | int a = tower_end_position - ((tower_end_position - tower_1_position)/2); |
s1725696 | 18:db53ac017f50 | 570 | pc.printf("position middle = %i, position pen = %i \r\n", a, Counts1(counts1)); |
s1725696 | 18:db53ac017f50 | 571 | |
s1725696 | 14:abc125dcc246 | 572 | //translation home |
s1725696 | 18:db53ac017f50 | 573 | if (Counts1(counts1) > a) |
s1725696 | 14:abc125dcc246 | 574 | { |
s1725696 | 18:db53ac017f50 | 575 | translation_start(1,1.0); |
s1725696 | 18:db53ac017f50 | 576 | pc.printf("start to 1 \r\n"); |
s1725696 | 14:abc125dcc246 | 577 | } |
s1725696 | 14:abc125dcc246 | 578 | else { |
s1725696 | 18:db53ac017f50 | 579 | translation_start(0,1.0); |
s1725696 | 18:db53ac017f50 | 580 | pc.printf("start to 0 \r\n"); |
s1725696 | 14:abc125dcc246 | 581 | } |
s1725696 | 18:db53ac017f50 | 582 | while(true){ |
s1725696 | 18:db53ac017f50 | 583 | if ((Counts1(counts1) > (a - 500)) && (Counts1(counts1) < (a + 500))) |
s1725696 | 14:abc125dcc246 | 584 | { |
s1725696 | 14:abc125dcc246 | 585 | translation_stop(); |
s1725696 | 18:db53ac017f50 | 586 | pc.printf("stop \r\n"); |
s1725696 | 18:db53ac017f50 | 587 | break; |
s1725696 | 14:abc125dcc246 | 588 | } |
s1725696 | 4:8183e7b228f0 | 589 | } |
s1725696 | 18:db53ac017f50 | 590 | } |
s1574396 | 22:be961d1830bb | 591 | |
s1725696 | 10:56136a0da8c1 | 592 | // OPERATING |
s1725696 | 0:cb8857cf3ea4 | 593 | // To control the robot with EMG signals |
s1725696 | 17:65943f6e11dc | 594 | // Function for using muscle for direction control |
s1725696 | 17:65943f6e11dc | 595 | void Directioncontrol() |
s1725696 | 20:645483d7470c | 596 | { |
s1725696 | 17:65943f6e11dc | 597 | switch (currentdirection) |
s1725696 | 17:65943f6e11dc | 598 | { |
s1725696 | 17:65943f6e11dc | 599 | case Pos_RB: |
s1725696 | 17:65943f6e11dc | 600 | |
s1574396 | 22:be961d1830bb | 601 | out1 = out1; |
s1574396 | 22:be961d1830bb | 602 | out2 = out2; |
s1725696 | 17:65943f6e11dc | 603 | directionchanged = false; |
s1725696 | 26:0b029c8623fe | 604 | led_red = 0; |
s1725696 | 26:0b029c8623fe | 605 | led_blue = 1; |
s1725696 | 26:0b029c8623fe | 606 | led_green = 1; |
s1574396 | 22:be961d1830bb | 607 | |
s1725696 | 17:65943f6e11dc | 608 | |
s1725696 | 17:65943f6e11dc | 609 | if (Average2 > Threshold2) |
s1725696 | 17:65943f6e11dc | 610 | { |
s1725696 | 17:65943f6e11dc | 611 | currentdirection = Pos_LB; |
s1725696 | 17:65943f6e11dc | 612 | pc.printf("\r\n direction = Pos_LB\r\n"); |
s1725696 | 17:65943f6e11dc | 613 | directionchanged = true; |
s1725696 | 17:65943f6e11dc | 614 | } |
s1574396 | 22:be961d1830bb | 615 | wait(0.5); // wait 0.5 seconds, otherwise it goes directly to the next case |
s1725696 | 17:65943f6e11dc | 616 | break; |
s1725696 | 17:65943f6e11dc | 617 | |
s1725696 | 17:65943f6e11dc | 618 | case Pos_LB: |
s1574396 | 22:be961d1830bb | 619 | |
s1574396 | 22:be961d1830bb | 620 | out1 = out1 * -1.0; |
s1574396 | 22:be961d1830bb | 621 | out2 = out2; |
s1725696 | 17:65943f6e11dc | 622 | directionchanged = false; |
s1725696 | 26:0b029c8623fe | 623 | led_blue = 0; |
s1725696 | 26:0b029c8623fe | 624 | led_red = 1; |
s1725696 | 26:0b029c8623fe | 625 | led_green = 1; |
s1574396 | 22:be961d1830bb | 626 | |
s1725696 | 17:65943f6e11dc | 627 | if (Average2 > Threshold2) |
s1725696 | 17:65943f6e11dc | 628 | { |
s1725696 | 17:65943f6e11dc | 629 | currentdirection = Pos_RO; |
s1725696 | 17:65943f6e11dc | 630 | pc.printf("\r\n direction = Pos_RO\r\n"); |
s1725696 | 17:65943f6e11dc | 631 | directionchanged = true; |
s1725696 | 17:65943f6e11dc | 632 | } |
s1725696 | 20:645483d7470c | 633 | wait(0.5); |
s1725696 | 17:65943f6e11dc | 634 | break; |
s1725696 | 17:65943f6e11dc | 635 | |
s1725696 | 17:65943f6e11dc | 636 | case Pos_RO: |
s1725696 | 17:65943f6e11dc | 637 | |
s1574396 | 22:be961d1830bb | 638 | out1 = out1; |
s1574396 | 22:be961d1830bb | 639 | out2 = out2 * -1.0; |
s1725696 | 17:65943f6e11dc | 640 | directionchanged = false; |
s1725696 | 26:0b029c8623fe | 641 | led_green = 0; |
s1725696 | 26:0b029c8623fe | 642 | led_red = 1; |
s1725696 | 26:0b029c8623fe | 643 | led_blue = 1; |
s1574396 | 22:be961d1830bb | 644 | |
s1725696 | 17:65943f6e11dc | 645 | if (Average2 > Threshold2) |
s1725696 | 17:65943f6e11dc | 646 | { |
s1725696 | 17:65943f6e11dc | 647 | currentdirection = Pos_LO; |
s1725696 | 17:65943f6e11dc | 648 | pc.printf("\r\n direction = Pos_LO\r\n"); |
s1725696 | 17:65943f6e11dc | 649 | directionchanged = true; |
s1725696 | 17:65943f6e11dc | 650 | } |
s1725696 | 20:645483d7470c | 651 | wait(0.5); |
s1725696 | 17:65943f6e11dc | 652 | break; |
s1725696 | 17:65943f6e11dc | 653 | |
s1725696 | 17:65943f6e11dc | 654 | case Pos_LO: |
s1574396 | 22:be961d1830bb | 655 | out1 = out1 * -1.0; |
s1574396 | 22:be961d1830bb | 656 | out2 = out2 * -1.0; |
s1725696 | 17:65943f6e11dc | 657 | directionchanged = false; |
s1725696 | 26:0b029c8623fe | 658 | led_red = 0; |
s1725696 | 26:0b029c8623fe | 659 | led_blue = 0; |
s1725696 | 26:0b029c8623fe | 660 | led_green = 0; |
s1574396 | 22:be961d1830bb | 661 | |
s1725696 | 17:65943f6e11dc | 662 | |
s1725696 | 17:65943f6e11dc | 663 | if (Average2 > Threshold2) |
s1725696 | 17:65943f6e11dc | 664 | { |
s1725696 | 17:65943f6e11dc | 665 | currentdirection = Pos_RB; |
s1725696 | 17:65943f6e11dc | 666 | pc.printf("\r\n direction = Pos_RB\r\n"); |
s1725696 | 17:65943f6e11dc | 667 | directionchanged = true; |
s1725696 | 17:65943f6e11dc | 668 | } |
s1725696 | 20:645483d7470c | 669 | wait(0.5); |
s1725696 | 17:65943f6e11dc | 670 | break; |
s1725696 | 17:65943f6e11dc | 671 | } |
s1725696 | 19:a3a7baab9dbc | 672 | } |
s1725696 | 17:65943f6e11dc | 673 | |
s1725696 | 17:65943f6e11dc | 674 | // PID controller |
s1725696 | 17:65943f6e11dc | 675 | // To control the input signal before it goes into the motor control |
s1725696 | 17:65943f6e11dc | 676 | // PID execution |
s1725696 | 17:65943f6e11dc | 677 | 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 | 678 | { |
s1725696 | 17:65943f6e11dc | 679 | // P control |
s1725696 | 17:65943f6e11dc | 680 | double u_k = kp * error; |
s1725696 | 17:65943f6e11dc | 681 | |
s1725696 | 17:65943f6e11dc | 682 | // I control |
s1725696 | 17:65943f6e11dc | 683 | error_int = error_int + (Ts * error); |
s1725696 | 17:65943f6e11dc | 684 | double u_i = ki * error_int; |
s1725696 | 17:65943f6e11dc | 685 | |
s1725696 | 17:65943f6e11dc | 686 | // D control |
s1725696 | 17:65943f6e11dc | 687 | double error_deriv = (error - error_prev); |
s1725696 | 17:65943f6e11dc | 688 | double u_d = kd * error_deriv; |
s1725696 | 17:65943f6e11dc | 689 | error_prev = error; |
s1725696 | 17:65943f6e11dc | 690 | |
s1725696 | 17:65943f6e11dc | 691 | return u_k + u_i + u_d; |
s1725696 | 17:65943f6e11dc | 692 | } |
s1725696 | 17:65943f6e11dc | 693 | |
s1725696 | 16:37b491eac34b | 694 | void boundaries() |
s1725696 | 16:37b491eac34b | 695 | { |
s1725696 | 16:37b491eac34b | 696 | double q2tot = q2 + dq2; |
s1725696 | 16:37b491eac34b | 697 | if (q2tot > q2end) |
s1725696 | 16:37b491eac34b | 698 | { |
s1725696 | 16:37b491eac34b | 699 | dq2 = 0; |
s1725696 | 16:37b491eac34b | 700 | } //kan ook zeggen q2end-q2 is dat dan juiste waarde of moet q2-q2end? |
s1725696 | 16:37b491eac34b | 701 | else if (q2tot < q2start) |
s1725696 | 16:37b491eac34b | 702 | { |
s1725696 | 16:37b491eac34b | 703 | dq2 = 0; |
s1725696 | 16:37b491eac34b | 704 | } |
s1725696 | 16:37b491eac34b | 705 | } |
s1725696 | 16:37b491eac34b | 706 | |
s1725696 | 16:37b491eac34b | 707 | void motor_control() |
s1725696 | 12:b2b082e73ef1 | 708 | { |
s1725696 | 16:37b491eac34b | 709 | // servocontrol(); // make sure the servo is used in this mode, maybe attach to a ticker? |
s1725696 | 17:65943f6e11dc | 710 | |
s1725696 | 17:65943f6e11dc | 711 | // filtering emg |
s1725696 | 17:65943f6e11dc | 712 | |
s1725696 | 17:65943f6e11dc | 713 | if (Average0 > Threshold0) |
s1725696 | 17:65943f6e11dc | 714 | { |
s1725696 | 17:65943f6e11dc | 715 | desired_x = 1.0; |
s1725696 | 17:65943f6e11dc | 716 | } |
s1725696 | 20:645483d7470c | 717 | else |
s1725696 | 20:645483d7470c | 718 | { |
s1725696 | 20:645483d7470c | 719 | desired_x = 0.0; |
s1725696 | 20:645483d7470c | 720 | } |
s1725696 | 17:65943f6e11dc | 721 | |
s1725696 | 17:65943f6e11dc | 722 | if (Average1 > Threshold1) |
s1725696 | 17:65943f6e11dc | 723 | { |
s1725696 | 17:65943f6e11dc | 724 | desired_y = 1.0; |
s1725696 | 17:65943f6e11dc | 725 | } |
s1725696 | 20:645483d7470c | 726 | else |
s1725696 | 20:645483d7470c | 727 | { |
s1725696 | 20:645483d7470c | 728 | desired_y = 0.0; |
s1725696 | 20:645483d7470c | 729 | } |
s1725696 | 17:65943f6e11dc | 730 | |
s1574396 | 22:be961d1830bb | 731 | // calling functions |
s1725696 | 17:65943f6e11dc | 732 | |
s1725696 | 17:65943f6e11dc | 733 | |
s1725696 | 17:65943f6e11dc | 734 | // motor control |
s1725696 | 20:645483d7470c | 735 | out1 = desired_x; //control x-direction |
s1725696 | 20:645483d7470c | 736 | out2 = desired_y; //control y-direction |
s1574396 | 22:be961d1830bb | 737 | Directioncontrol(); |
s1725696 | 16:37b491eac34b | 738 | vdesx = out1 * 20.0; //speed x-direction |
s1725696 | 16:37b491eac34b | 739 | vdesy = out2 * 20.0; //speed y-direction |
s1725696 | 16:37b491eac34b | 740 | |
s1725696 | 18:db53ac017f50 | 741 | q1 = Counts2(counts2) * alpha + q1start; //counts to rotation (rad) |
s1725696 | 18:db53ac017f50 | 742 | q2 = Counts1(counts1)* beta + q2start; //counts to translation (mm) |
s1725696 | 17:65943f6e11dc | 743 | MPe = el_1 - el_2 + q2; //x location end effector, x-axis along the translation |
s1725696 | 16:37b491eac34b | 744 | xe = cos(q1) * MPe; //x location in frame 0 |
s1725696 | 16:37b491eac34b | 745 | ye = sin(q1) * MPe; //y location in frame 0 |
s1725696 | 16:37b491eac34b | 746 | gamma = 1.0 /((-1.0 * ye * sin(q1)) - (xe * cos(q1))); //(1 / det(J'')inverse) |
s1725696 | 16:37b491eac34b | 747 | dq1 = gamma * delta_t * (sin(q1) * vdesx - cos(q1) * vdesy); //target rotation |
s1725696 | 20:645483d7470c | 748 | dq2 = gamma * delta_t * (xe * vdesx + ye * vdesy) * -1.0; //target translation |
s1574396 | 22:be961d1830bb | 749 | //boundaries(); |
s1725696 | 16:37b491eac34b | 750 | dC1 = PID_control( dq1, Rot_Kp, Rot_Ki, Rot_Kd, Rot_error, Rot_prev_error) / alpha; //target rotation to counts |
s1725696 | 16:37b491eac34b | 751 | dC2 = PID_control( dq2, Trans_Kp, Trans_Ki, Trans_Kd, Trans_error, Trans_prev_error) / beta; //target translation to counts |
s1725696 | 16:37b491eac34b | 752 | pwm1 = 3.0 * (dC1 / delta_t) / 8400.0; // |
s1574396 | 22:be961d1830bb | 753 | pwm2 = 7.0 * (dC2 / delta_t) / 8400.0; // |
s1725696 | 18:db53ac017f50 | 754 | dirpin_1.write(pwm2 < 0); // translatie |
s1725696 | 18:db53ac017f50 | 755 | pwmpin_1 = fabs (pwm2); |
s1725696 | 18:db53ac017f50 | 756 | dirpin_2.write(pwm1 < 0); // rotatie |
s1725696 | 18:db53ac017f50 | 757 | pwmpin_2 = fabs (pwm1); |
s1725696 | 16:37b491eac34b | 758 | } |
s1725696 | 0:cb8857cf3ea4 | 759 | |
s1725696 | 10:56136a0da8c1 | 760 | // FAILURE |
s1725696 | 0:cb8857cf3ea4 | 761 | // To shut down the robot after an error etc |
s1725696 | 13:c087c0f64769 | 762 | void failure_mode() |
s1725696 | 10:56136a0da8c1 | 763 | { |
s1725696 | 18:db53ac017f50 | 764 | if (button_emergency == false) // condition for MOTOR_CAL --> FAILURE; button_emergency press |
s1725696 | 18:db53ac017f50 | 765 | { |
s1725696 | 26:0b029c8623fe | 766 | led_red =0; // turning red led on to show emergency mode |
s1725696 | 26:0b029c8623fe | 767 | led_blue = 1; |
s1725696 | 26:0b029c8623fe | 768 | led_green = 1; |
s1725696 | 14:abc125dcc246 | 769 | |
s1725696 | 18:db53ac017f50 | 770 | // all pwmpins zero |
s1725696 | 18:db53ac017f50 | 771 | pwmpin_1 = 0.0; |
s1725696 | 18:db53ac017f50 | 772 | pwmpin_2 = 0.0; |
s1725696 | 14:abc125dcc246 | 773 | |
s1725696 | 18:db53ac017f50 | 774 | // Servo up? |
s1725696 | 18:db53ac017f50 | 775 | // myservo = 0.1; |
s1725696 | 14:abc125dcc246 | 776 | |
s1725696 | 18:db53ac017f50 | 777 | pc.printf("\r\nEmergency mode, reset system to continue\r\n"); |
s1725696 | 18:db53ac017f50 | 778 | } |
s1725696 | 10:56136a0da8c1 | 779 | } |
s1725696 | 0:cb8857cf3ea4 | 780 | |
s1725696 | 0:cb8857cf3ea4 | 781 | // Main function |
s1725696 | 4:8183e7b228f0 | 782 | // ----------------------------------------------------------------------------- |
s1725696 | 0:cb8857cf3ea4 | 783 | int main() |
s1725696 | 0:cb8857cf3ea4 | 784 | { |
s1725696 | 0:cb8857cf3ea4 | 785 | pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself! |
s1725696 | 0:cb8857cf3ea4 | 786 | pc.printf("Start code\r\n"); // To check if the program starts |
s1725696 | 9:d7a6a3619576 | 787 | pwmpin_1.period_us(60); // Setting period for PWM |
s1725696 | 17:65943f6e11dc | 788 | process_tick.attach(&processing_emg,T); // EMG signals must be filtered all the time! EMG signals filtered every T sec. |
s1725696 | 18:db53ac017f50 | 789 | emergency.attach(&failure_mode,0.01); // To make sure you can go to emergency mode all the time |
s1725696 | 1:1a8211e1f3f3 | 790 | |
s1725696 | 33:a03bb006dff4 | 791 | pc.printf("State is WAIT\r\n"); |
s1725696 | 33:a03bb006dff4 | 792 | |
s1725696 | 1:1a8211e1f3f3 | 793 | while(true){ |
s1725696 | 6:f495a77c2c95 | 794 | // timer |
s1725696 | 6:f495a77c2c95 | 795 | clock_t start; // start the timer |
s1725696 | 6:f495a77c2c95 | 796 | start = clock(); |
s1725696 | 9:d7a6a3619576 | 797 | time_overall = (clock() - start) / (double) CLOCKS_PER_SEC; |
s1725696 | 14:abc125dcc246 | 798 | myservo = 0.1; // Keep the pen lifted until servo function is called (operation mode) |
s1725696 | 5:3581013d4505 | 799 | |
s1725696 | 6:f495a77c2c95 | 800 | // With the help of a switch loop and states we can switch between states and the robot knows what to do |
s1725696 | 9:d7a6a3619576 | 801 | switch(CurrentState) |
s1725696 | 6:f495a77c2c95 | 802 | { |
s1725696 | 6:f495a77c2c95 | 803 | case WAIT: |
s1725696 | 6:f495a77c2c95 | 804 | |
s1725696 | 24:ebcb41126f21 | 805 | StateChanged = true; |
s1725696 | 24:ebcb41126f21 | 806 | |
s1725696 | 6:f495a77c2c95 | 807 | if(StateChanged) // so if StateChanged is true |
s1725696 | 6:f495a77c2c95 | 808 | { |
s1725696 | 6:f495a77c2c95 | 809 | // Execute WAIT mode |
s1725696 | 10:56136a0da8c1 | 810 | wait_mode(); |
s1725696 | 10:56136a0da8c1 | 811 | |
s1725696 | 6:f495a77c2c95 | 812 | StateChanged = false; // the state is still WAIT |
s1725696 | 6:f495a77c2c95 | 813 | } |
s1725696 | 6:f495a77c2c95 | 814 | |
s1725696 | 12:b2b082e73ef1 | 815 | if(button_motorcal == false) // condition for WAIT --> MOTOR_CAl; button_motorcal press |
s1725696 | 6:f495a77c2c95 | 816 | { |
s1725696 | 6:f495a77c2c95 | 817 | CurrentState = MOTOR_CAL; |
s1725696 | 18:db53ac017f50 | 818 | pc.printf("\r\nState is MOTOR_CAL\r\n"); |
s1725696 | 7:ec5add330cb3 | 819 | StateChanged = true; |
s1725696 | 7:ec5add330cb3 | 820 | } |
s1725696 | 6:f495a77c2c95 | 821 | |
s1725696 | 6:f495a77c2c95 | 822 | break; |
s1725696 | 6:f495a77c2c95 | 823 | |
s1725696 | 6:f495a77c2c95 | 824 | case MOTOR_CAL: |
s1725696 | 6:f495a77c2c95 | 825 | |
s1725696 | 6:f495a77c2c95 | 826 | if(StateChanged) // so if StateChanged is true |
s1725696 | 6:f495a77c2c95 | 827 | { |
s1725696 | 6:f495a77c2c95 | 828 | // Execute MOTOR_CAL mode |
s1725696 | 10:56136a0da8c1 | 829 | motor_calibration(); |
s1725696 | 10:56136a0da8c1 | 830 | |
s1725696 | 6:f495a77c2c95 | 831 | StateChanged = false; // the state is still MOTOR_CAL |
s1725696 | 6:f495a77c2c95 | 832 | } |
s1725696 | 6:f495a77c2c95 | 833 | |
s1725696 | 18:db53ac017f50 | 834 | if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for MOTOR_CAL --> EMG_CAL; 3s and motors stopped moving |
s1725696 | 6:f495a77c2c95 | 835 | { |
s1725696 | 6:f495a77c2c95 | 836 | CurrentState = EMG_CAL; |
s1725696 | 18:db53ac017f50 | 837 | pc.printf("\r\nState is EMG_CAL\r\n"); |
s1725696 | 6:f495a77c2c95 | 838 | StateChanged = true; |
s1725696 | 6:f495a77c2c95 | 839 | } |
s1725696 | 18:db53ac017f50 | 840 | |
s1725696 | 6:f495a77c2c95 | 841 | break; |
s1725696 | 6:f495a77c2c95 | 842 | |
s1725696 | 6:f495a77c2c95 | 843 | case EMG_CAL: |
s1725696 | 6:f495a77c2c95 | 844 | |
s1725696 | 6:f495a77c2c95 | 845 | if(StateChanged) // so if StateChanged is true |
s1725696 | 6:f495a77c2c95 | 846 | { |
s1725696 | 6:f495a77c2c95 | 847 | // Execute EMG_CAL mode |
s1725696 | 10:56136a0da8c1 | 848 | emg_calibration(); |
s1725696 | 10:56136a0da8c1 | 849 | |
s1725696 | 6:f495a77c2c95 | 850 | StateChanged = false; // state is still EMG_CAL |
s1725696 | 6:f495a77c2c95 | 851 | } |
s1725696 | 6:f495a77c2c95 | 852 | |
s1725696 | 18:db53ac017f50 | 853 | if((Average0 < 0.04) && (Average1 < 0.04) && (Average2 < 0.04)) // condition for EMG_CAL --> START; 5s and EMG is low |
s1725696 | 6:f495a77c2c95 | 854 | { |
s1725696 | 6:f495a77c2c95 | 855 | CurrentState = START; |
s1725696 | 18:db53ac017f50 | 856 | pc.printf("\r\nState is START\r\n"); |
s1725696 | 7:ec5add330cb3 | 857 | StateChanged = true; |
s1725696 | 7:ec5add330cb3 | 858 | } |
s1725696 | 7:ec5add330cb3 | 859 | |
s1725696 | 6:f495a77c2c95 | 860 | break; |
s1725696 | 6:f495a77c2c95 | 861 | |
s1725696 | 6:f495a77c2c95 | 862 | case START: |
s1725696 | 6:f495a77c2c95 | 863 | |
s1725696 | 6:f495a77c2c95 | 864 | if(StateChanged) // so if StateChanged is true |
s1725696 | 6:f495a77c2c95 | 865 | { |
s1725696 | 6:f495a77c2c95 | 866 | // Execute START mode |
s1725696 | 10:56136a0da8c1 | 867 | start_mode(); |
s1725696 | 10:56136a0da8c1 | 868 | |
s1725696 | 18:db53ac017f50 | 869 | pc.printf("pwmpin_1 = %f pwmpin_2 = %f \r\n", pwmpin_1, pwmpin_2); |
s1725696 | 10:56136a0da8c1 | 870 | |
s1725696 | 6:f495a77c2c95 | 871 | StateChanged = false; // state is still START |
s1725696 | 6:f495a77c2c95 | 872 | } |
s1725696 | 6:f495a77c2c95 | 873 | |
s1725696 | 18:db53ac017f50 | 874 | if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for START --> OPERATING; 5s and motors stopped moving |
s1725696 | 6:f495a77c2c95 | 875 | { |
s1725696 | 6:f495a77c2c95 | 876 | CurrentState = OPERATING; |
s1725696 | 18:db53ac017f50 | 877 | pc.printf("\r\nState is OPERATING\r\n"); |
s1725696 | 6:f495a77c2c95 | 878 | StateChanged = true; |
s1725696 | 6:f495a77c2c95 | 879 | } |
s1725696 | 18:db53ac017f50 | 880 | |
s1725696 | 6:f495a77c2c95 | 881 | break; |
s1725696 | 6:f495a77c2c95 | 882 | |
s1725696 | 6:f495a77c2c95 | 883 | case OPERATING: |
s1725696 | 6:f495a77c2c95 | 884 | |
s1725696 | 6:f495a77c2c95 | 885 | if(StateChanged) // so if StateChanged is true |
s1725696 | 6:f495a77c2c95 | 886 | { |
s1725696 | 6:f495a77c2c95 | 887 | // Execute OPERATING mode |
s1725696 | 24:ebcb41126f21 | 888 | bool g = true; |
s1725696 | 24:ebcb41126f21 | 889 | while(g == true) |
s1725696 | 16:37b491eac34b | 890 | { |
s1725696 | 16:37b491eac34b | 891 | motor_control(); |
s1725696 | 16:37b491eac34b | 892 | pc.printf("PWM_rot = %f PWM_trans = %f VdesX = %f VdesY = %f \n\r",pwm1,pwm2,vdesx,vdesy); |
s1574396 | 22:be961d1830bb | 893 | pc.printf("out1 = %f out2 = %f \n\r", out1, out2); |
s1574396 | 22:be961d1830bb | 894 | //pc.printf("Average0 = %f Average1 = %f Average2 = %f\r\n", Average0,Average1,Average2); |
s1725696 | 17:65943f6e11dc | 895 | |
s1725696 | 17:65943f6e11dc | 896 | if(button_wait == false) // condition OPERATING --> WAIT; button_wait press |
s1725696 | 17:65943f6e11dc | 897 | { |
s1725696 | 17:65943f6e11dc | 898 | CurrentState = WAIT; |
s1725696 | 33:a03bb006dff4 | 899 | pc.printf("\r\nState is WAIT\r\n"); |
s1725696 | 27:399ca1f28bd8 | 900 | g = false; |
s1725696 | 27:399ca1f28bd8 | 901 | break; |
s1725696 | 27:399ca1f28bd8 | 902 | } |
s1725696 | 27:399ca1f28bd8 | 903 | |
s1725696 | 16:37b491eac34b | 904 | wait(delta_t); |
s1725696 | 16:37b491eac34b | 905 | } |
s1725696 | 24:ebcb41126f21 | 906 | |
s1725696 | 6:f495a77c2c95 | 907 | StateChanged = false; // state is still OPERATING |
s1725696 | 6:f495a77c2c95 | 908 | } |
s1725696 | 6:f495a77c2c95 | 909 | |
s1725696 | 6:f495a77c2c95 | 910 | break; |
s1725696 | 20:645483d7470c | 911 | |
s1725696 | 6:f495a77c2c95 | 912 | // no default |
s1725696 | 4:8183e7b228f0 | 913 | } |
s1725696 | 6:f495a77c2c95 | 914 | |
s1725696 | 6:f495a77c2c95 | 915 | // while loop does not have to loop every time |
s1725696 | 5:3581013d4505 | 916 | } |
s1725696 | 5:3581013d4505 | 917 | |
s1725696 | 0:cb8857cf3ea4 | 918 | } |