Group 9 BioRobotics / Mbed 2 deprecated the_code

The code without functions and variables filled in

Dependencies:   HIDScope Servo mbed QEI biquadFilter

THE.cpp@18:db53ac017f50, 2018-11-01 (annotated)

Committer:
s1725696
Date:
Thu Nov 01 14:28:56 2018 +0000
Revision:
18:db53ac017f50
Parent:
17:65943f6e11dc
Child:
19:a3a7baab9dbc
it works, with action as calibration; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1725696 5:3581013d4505 1 #include "mbed.h" // Use revision 119!!
s1725696 5:3581013d4505 2 #include "HIDScope.h" // For displaying data, select MBED - HID device, restart for every new code
s1725696 5:3581013d4505 3 #include "QEI.h" // For reading the encoder of the motors
s1725696 9:d7a6a3619576 4 #include <ctime> // for the timer during the process (if needed)
s1725696 11:79311abb2bc2 5 #include "Servo.h" // For controlling the servo
s1725696 13:c087c0f64769 6 #include "BiQuad.h"
s1725696 0:cb8857cf3ea4 7
s1725696 5:3581013d4505 8 #define SERIAL_BAUD 115200
s1725696 5:3581013d4505 9
s1725696 5:3581013d4505 10 // In- en outputs
s1725696 4:8183e7b228f0 11 // -----------------------------------------------------------------------------
s1725696 4:8183e7b228f0 12
s1725696 18:db53ac017f50 13 // EMG
s1725696 18:db53ac017f50 14 AnalogIn emg0_in( A0 ); // x_direction
s1725696 18:db53ac017f50 15 AnalogIn emg1_in( A1 ); // y_direction
s1725696 18:db53ac017f50 16 AnalogIn emg2_in( A2 ); // changing directions
s1725696 18:db53ac017f50 17
s1725696 18:db53ac017f50 18 // Motor related
s1725696 18:db53ac017f50 19 DigitalOut dirpin_1(D4); // direction of motor 1 (translation)
s1725696 18:db53ac017f50 20 PwmOut pwmpin_1(D5); // PWM pin of motor 1
s1725696 18:db53ac017f50 21 DigitalOut dirpin_2(D7); // direction of motor 2 (rotation)
s1725696 18:db53ac017f50 22 PwmOut pwmpin_2(D6); // PWM pin of motor 2
s1725696 18:db53ac017f50 23
s1725696 18:db53ac017f50 24 // Extra stuff
s1725696 18:db53ac017f50 25 DigitalIn button_motorcal(SW2); // button for motor calibration, on mbed
s1725696 18:db53ac017f50 26 DigitalIn button_emergency(D8); // button for emergency mode, on bioshield
s1725696 18:db53ac017f50 27 DigitalIn button_wait(SW3); // button for wait mode, on mbed
s1725696 18:db53ac017f50 28 DigitalIn button_demo(D9); // button for demo mode, on bioshield
s1725696 18:db53ac017f50 29
s1725696 18:db53ac017f50 30 DigitalIn led_red(LED_RED); // red led
s1725696 18:db53ac017f50 31 DigitalIn led_green(LED_GREEN); // green led
s1725696 18:db53ac017f50 32 DigitalIn led_blue(LED_BLUE); // blue led
s1725696 18:db53ac017f50 33
s1725696 18:db53ac017f50 34 Servo myservo(D3); // Define the servo to control (in penholder), up to start with
s1725696 18:db53ac017f50 35
s1725696 18:db53ac017f50 36 // Other stuff
s1725696 18:db53ac017f50 37 // -----------------------------------------------------------------------------
s1725696 18:db53ac017f50 38 // Define stuff like tickers etc
s1725696 18:db53ac017f50 39
s1725696 18:db53ac017f50 40 Ticker process_tick;
s1725696 18:db53ac017f50 41 Ticker emergency;
s1725696 18:db53ac017f50 42 HIDScope scope(6); // Number of channels in HIDScope
s1725696 18:db53ac017f50 43 QEI Encoder1(D13,D12,NC,64,QEI::X4_ENCODING); // Define the type of encoding: X4 encoding(default is X2)
s1725696 18:db53ac017f50 44 QEI Encoder2(D11,D10,NC,64,QEI::X4_ENCODING);
s1725696 18:db53ac017f50 45 Serial pc(USBTX,USBRX);
s1725696 18:db53ac017f50 46 Timer t; // For timing the time in each state (https://os.mbed.com/handbook/Timer)
s1725696 18:db53ac017f50 47
s1725696 18:db53ac017f50 48 // Variables
s1725696 18:db53ac017f50 49 // -----------------------------------------------------------------------------
s1725696 18:db53ac017f50 50 // Define here all variables needed throughout the whole code
s1725696 18:db53ac017f50 51 volatile double time_overall;
s1725696 18:db53ac017f50 52 volatile double time_in_state;
s1725696 18:db53ac017f50 53 volatile double motor_velocity = 0;
s1725696 18:db53ac017f50 54 volatile double EMG = 0;
s1725696 18:db53ac017f50 55 volatile double errors = 0;
s1725696 18:db53ac017f50 56 volatile int counts1_prev = 0;
s1725696 18:db53ac017f50 57 volatile int counts2_prev = 0;
s1725696 18:db53ac017f50 58 volatile int counts1;
s1725696 18:db53ac017f50 59 volatile int counts2;
s1725696 18:db53ac017f50 60
s1725696 0:cb8857cf3ea4 61 // EMG related
s1725696 13:c087c0f64769 62 // Constants EMG filter
s1725696 13:c087c0f64769 63 const double m1 = 0.5000;
s1725696 13:c087c0f64769 64 const double m2 = -0.8090;
s1725696 13:c087c0f64769 65 const double n0 = 0.5000;
s1725696 13:c087c0f64769 66 const double n1 = -0.8090;
s1725696 13:c087c0f64769 67 const double n2 = 0.0;
s1725696 13:c087c0f64769 68 const double a1 = 0.9565;
s1725696 13:c087c0f64769 69 const double a2 = -1.9131;
s1725696 13:c087c0f64769 70 const double b0 = 0.9565;
s1725696 13:c087c0f64769 71 const double b1 = -1.9112;
s1725696 13:c087c0f64769 72 const double b2 = 0.9150;
s1725696 13:c087c0f64769 73 const double c1 = 0.0675;
s1725696 13:c087c0f64769 74 const double c2 = 0.1349;
s1725696 13:c087c0f64769 75 const double d0 = 0.0675;
s1725696 13:c087c0f64769 76 const double d1 = -1.1430;
s1725696 13:c087c0f64769 77 const double d2 = 0.4128;
s1725696 13:c087c0f64769 78
s1725696 13:c087c0f64769 79 // Variables EMG
s1725696 13:c087c0f64769 80 double emg0;
s1725696 13:c087c0f64769 81 double emg1;
s1725696 13:c087c0f64769 82 double emg2;
s1725696 13:c087c0f64769 83 double notch0;
s1725696 13:c087c0f64769 84 double notch1;
s1725696 13:c087c0f64769 85 double notch2;
s1725696 13:c087c0f64769 86 double high0;
s1725696 13:c087c0f64769 87 double high1;
s1725696 13:c087c0f64769 88 double high2;
s1725696 13:c087c0f64769 89 double absolute0;
s1725696 13:c087c0f64769 90 double absolute1;
s1725696 13:c087c0f64769 91 double absolute2;
s1725696 13:c087c0f64769 92 double low0;
s1725696 13:c087c0f64769 93 double low1;
s1725696 13:c087c0f64769 94 double low2;
s1725696 13:c087c0f64769 95
s1725696 13:c087c0f64769 96 // BiQuad values
s1725696 13:c087c0f64769 97 BiQuadChain notch;
s1725696 13:c087c0f64769 98 BiQuad N1( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 99 BiQuad N2( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 100 BiQuad N3( m1, m2, n0, n1, n2);
s1725696 13:c087c0f64769 101 BiQuadChain highpass;
s1725696 13:c087c0f64769 102 BiQuad H1( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 103 BiQuad H2( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 104 BiQuad H3( a1, a2, b0, b1, b2);
s1725696 13:c087c0f64769 105 BiQuadChain lowpass;
s1725696 13:c087c0f64769 106 BiQuad L1( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 107 BiQuad L2( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 108 BiQuad L3( c1, c2, d0, d1, d2);
s1725696 13:c087c0f64769 109
s1725696 16:37b491eac34b 110 const float T = 0.001f;
s1725696 13:c087c0f64769 111
s1725696 13:c087c0f64769 112 // EMG
s1725696 13:c087c0f64769 113 const int sizeMovAg = 100; //Size of array over which the moving average (MovAg) is calculated
s1725696 13:c087c0f64769 114 double sum, sum1, sum2, sum3; //Variables used in calibration and MovAg to sum the elements in the array
s1725696 13:c087c0f64769 115 double StoreArray0[sizeMovAg] = {}, StoreArray1[sizeMovAg] = {}, StoreArray2[sizeMovAg] = {};
s1725696 13:c087c0f64769 116
s1725696 13:c087c0f64769 117 //Empty arrays to calculate MovAgs
s1725696 13:c087c0f64769 118 double Average0, Average1, Average2; //Outcome of MovAg
s1725696 13:c087c0f64769 119 const int sizeCali = 500; //Size of array over which the Threshold will be calculated
s1725696 13:c087c0f64769 120 double StoreCali0[sizeCali] = {}, StoreCali1[sizeCali] = {}, StoreCali2[sizeCali] = {};
s1725696 13:c087c0f64769 121
s1725696 13:c087c0f64769 122 //Empty arrays to calculate means in calibration
s1725696 13:c087c0f64769 123 double Mean0, Mean1, Mean2; //Mean of maximum contraction, calculated in the calibration
s1725696 13:c087c0f64769 124 double Threshold0 = 1, Threshold1 = 1, Threshold2 = 1; //Thresholds for muscles 0 to 2
s1725696 13:c087c0f64769 125 int g = 0; //Part of the switch void, where the current state can be changed
s1725696 13:c087c0f64769 126 int emg_calib=0; //After calibration this value will be 1, enabling the
s1725696 13:c087c0f64769 127
s1725696 12:b2b082e73ef1 128 // MOTOR_CAL
s1725696 12:b2b082e73ef1 129 volatile double tower_1_position = 0.1; // the tower which he reaches first
s1725696 12:b2b082e73ef1 130 volatile double tower_end_position = 0.1; // the tower which he reaches second
s1725696 12:b2b082e73ef1 131 volatile double rotation_start_position = 0.1; // the position where the rotation will remain
s1725696 12:b2b082e73ef1 132 volatile double position;
s1725696 17:65943f6e11dc 133 volatile float speed = 0.70;
s1725696 17:65943f6e11dc 134 volatile int dir = 0;
s1725696 17:65943f6e11dc 135
s1725696 17:65943f6e11dc 136 // RKI related
s1725696 17:65943f6e11dc 137 const double Ts = 0.001;// sample frequency
s1725696 17:65943f6e11dc 138
s1725696 17:65943f6e11dc 139 // Constants motor
s1725696 17:65943f6e11dc 140 const double delta_t = 0.01;
s1725696 17:65943f6e11dc 141 const double el_1 = 370.0 / 2.0;
s1725696 17:65943f6e11dc 142 const double el_2 = 65.0 / 2.0;
s1725696 17:65943f6e11dc 143 const double pi = 3.14159265359;
s1725696 17:65943f6e11dc 144 const double alpha = (2.0 * pi) /(25.0*8400.0);
s1725696 17:65943f6e11dc 145 const double beta = (((2.0 * el_1) - (2.0 * el_2)) * 20.0 * pi) / (305.0 * 8400.0);
s1725696 17:65943f6e11dc 146 const double q1start = rotation_start_position * alpha;
s1725696 17:65943f6e11dc 147 const double q2start = tower_1_position * beta;
s1725696 17:65943f6e11dc 148 const double q2end = tower_end_position * beta;
s1725696 17:65943f6e11dc 149
s1725696 17:65943f6e11dc 150 // Variables motors
s1725696 17:65943f6e11dc 151 volatile double desired_x;
s1725696 17:65943f6e11dc 152 volatile double desired_y;
s1725696 17:65943f6e11dc 153 volatile double out1;
s1725696 17:65943f6e11dc 154 volatile double out2;
s1725696 17:65943f6e11dc 155 volatile double vdesx;
s1725696 17:65943f6e11dc 156 volatile double vdesy;
s1725696 17:65943f6e11dc 157 volatile double q1;
s1725696 17:65943f6e11dc 158 volatile double q2;
s1725696 17:65943f6e11dc 159 volatile double MPe;
s1725696 17:65943f6e11dc 160 volatile double xe;
s1725696 17:65943f6e11dc 161 volatile double ye;
s1725696 17:65943f6e11dc 162 volatile double gamma;
s1725696 17:65943f6e11dc 163 volatile double dq1;
s1725696 17:65943f6e11dc 164 volatile double dq2;
s1725696 17:65943f6e11dc 165 volatile double dC1;
s1725696 17:65943f6e11dc 166 volatile double dC2;
s1725696 17:65943f6e11dc 167 volatile double pwm1;
s1725696 17:65943f6e11dc 168 volatile double pwm2;
s1725696 17:65943f6e11dc 169
s1725696 17:65943f6e11dc 170 // PID rotation constants
s1725696 17:65943f6e11dc 171 volatile double Rot_Kp = 1.5;
s1725696 17:65943f6e11dc 172 volatile double Rot_Ki = 0.1;
s1725696 17:65943f6e11dc 173 volatile double Rot_Kd = 0.48;
s1725696 17:65943f6e11dc 174 volatile double Rot_error = 0.0;
s1725696 17:65943f6e11dc 175 volatile double Rot_prev_error = 0.0;
s1725696 17:65943f6e11dc 176
s1725696 17:65943f6e11dc 177 // PID translation constants
s1725696 17:65943f6e11dc 178 const double Trans_Kp = 0.5;
s1725696 17:65943f6e11dc 179 const double Trans_Ki = 0.5;
s1725696 17:65943f6e11dc 180 const double Trans_Kd = 0.1;
s1725696 17:65943f6e11dc 181 volatile double Trans_error = 0.0;
s1725696 17:65943f6e11dc 182 volatile double Trans_prev_error = 0.0;
s1725696 6:f495a77c2c95 183
s1725696 6:f495a77c2c95 184 // states
s1725696 18:db53ac017f50 185 enum states {WAIT, MOTOR_CAL, EMG_CAL, START, OPERATING, DEMO}; // states the robot can be in
s1725696 7:ec5add330cb3 186 states CurrentState = WAIT; // the CurrentState to start with is the WAIT state
s1725696 6:f495a77c2c95 187 bool StateChanged = true; // the state must be changed to go into the next state
s1725696 0:cb8857cf3ea4 188
s1725696 0:cb8857cf3ea4 189 // Functions
s1725696 4:8183e7b228f0 190 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 191
s1725696 4:8183e7b228f0 192 // Encoder
s1725696 4:8183e7b228f0 193 // Getting encoder information from motors
s1725696 12:b2b082e73ef1 194 int Counts1(volatile int& a) // a = counts1
s1725696 4:8183e7b228f0 195 {
s1725696 12:b2b082e73ef1 196 counts1_prev = a;
s1725696 18:db53ac017f50 197 a = Encoder1.getPulses();
s1725696 12:b2b082e73ef1 198 return a;
s1725696 12:b2b082e73ef1 199 }
s1725696 12:b2b082e73ef1 200
s1725696 12:b2b082e73ef1 201 int Counts2(volatile int& a) // a = counts2
s1725696 12:b2b082e73ef1 202 {
s1725696 12:b2b082e73ef1 203 counts2_prev = a;
s1725696 18:db53ac017f50 204 a = Encoder2.getPulses();
s1725696 12:b2b082e73ef1 205 return a;
s1725696 12:b2b082e73ef1 206 }
s1725696 5:3581013d4505 207
s1725696 11:79311abb2bc2 208 // Servo control
s1725696 12:b2b082e73ef1 209 // To lift the pen up, with a push of button
s1725696 11:79311abb2bc2 210 void servocontrol()
s1725696 11:79311abb2bc2 211 {
s1725696 18:db53ac017f50 212 if(button_motorcal == false) // If button is pushed, pen should go up
s1725696 11:79311abb2bc2 213 {
s1725696 11:79311abb2bc2 214 myservo = 0.1;
s1725696 11:79311abb2bc2 215 }
s1725696 14:abc125dcc246 216 myservo = 0.0;
s1725696 6:f495a77c2c95 217 }
s1725696 9:d7a6a3619576 218
s1725696 10:56136a0da8c1 219 // EMG filter
s1725696 10:56136a0da8c1 220 // To process the EMG signal before information can be caught from it
s1725696 14:abc125dcc246 221
s1725696 14:abc125dcc246 222 // Filter of the first EMG signal
s1725696 13:c087c0f64769 223 void filtering()
s1725696 13:c087c0f64769 224 {
s1725696 13:c087c0f64769 225 // Reading the EMG signal
s1725696 13:c087c0f64769 226 emg0 = emg0_in.read();
s1725696 13:c087c0f64769 227 emg1 = emg1_in.read();
s1725696 13:c087c0f64769 228 emg2 = emg2_in.read();
s1725696 13:c087c0f64769 229
s1725696 13:c087c0f64769 230 // Applying a notch filter over the EMG data
s1725696 13:c087c0f64769 231 notch0 = N1.step(emg0);
s1725696 13:c087c0f64769 232 notch1 = N2.step(emg1);
s1725696 13:c087c0f64769 233 notch2 = N3.step(emg2);
s1725696 13:c087c0f64769 234
s1725696 13:c087c0f64769 235 // Applying a high pass filter
s1725696 13:c087c0f64769 236 high0 = H1.step(notch0);
s1725696 13:c087c0f64769 237 high1 = H2.step(notch1);
s1725696 13:c087c0f64769 238 high2 = H3.step(notch2);
s1725696 13:c087c0f64769 239
s1725696 13:c087c0f64769 240 // Rectifying the signal
s1725696 13:c087c0f64769 241 absolute0 = fabs(high0);
s1725696 13:c087c0f64769 242 absolute1 = fabs(high1);
s1725696 13:c087c0f64769 243 absolute2 = fabs(high2);
s1725696 13:c087c0f64769 244
s1725696 13:c087c0f64769 245 // Applying low pass filter
s1725696 13:c087c0f64769 246 low0 = L1.step(absolute0);
s1725696 13:c087c0f64769 247 low1 = L2.step(absolute1);
s1725696 13:c087c0f64769 248 low2 = L3.step(absolute2);
s1725696 13:c087c0f64769 249 }
s1725696 13:c087c0f64769 250
s1725696 13:c087c0f64769 251 // Moving average filter
s1725696 13:c087c0f64769 252 // To determine the moving average, apply after filtering
s1725696 13:c087c0f64769 253 void MovAg()
s1725696 13:c087c0f64769 254 {
s1725696 13:c087c0f64769 255 // For statement to make an array of the last datapoints of the filtered signal
s1725696 13:c087c0f64769 256 for (int i = sizeMovAg - 1; i >= 0; i--)
s1725696 13:c087c0f64769 257 {
s1725696 13:c087c0f64769 258 // Shifts the i'th element one place to the right
s1725696 13:c087c0f64769 259 StoreArray0[i] = StoreArray0[i-1];
s1725696 13:c087c0f64769 260 StoreArray1[i] = StoreArray1[i-1];
s1725696 13:c087c0f64769 261 StoreArray2[i] = StoreArray2[i-1];
s1725696 13:c087c0f64769 262 }
s1725696 13:c087c0f64769 263
s1725696 13:c087c0f64769 264 // Stores the latest datapoint in the first element of the array
s1725696 13:c087c0f64769 265 StoreArray0[0] = low0;
s1725696 13:c087c0f64769 266 StoreArray1[0] = low1;
s1725696 13:c087c0f64769 267 StoreArray2[0] = low2;
s1725696 13:c087c0f64769 268 sum1 = 0.0;
s1725696 13:c087c0f64769 269 sum2 = 0.0;
s1725696 13:c087c0f64769 270 sum3 = 0.0;
s1725696 13:c087c0f64769 271
s1725696 13:c087c0f64769 272 // For statement to sum the elements in the array
s1725696 13:c087c0f64769 273 for (int a = 0; a<=sizeMovAg-1; a++)
s1725696 13:c087c0f64769 274 {
s1725696 13:c087c0f64769 275 sum1+=StoreArray0[a];
s1725696 13:c087c0f64769 276 sum2+=StoreArray1[a];
s1725696 13:c087c0f64769 277 sum3+=StoreArray2[a];
s1725696 13:c087c0f64769 278 }
s1725696 13:c087c0f64769 279
s1725696 13:c087c0f64769 280 // Calculates an average over the datapoints in the array
s1725696 13:c087c0f64769 281 Average0 = sum1/sizeMovAg;
s1725696 13:c087c0f64769 282 Average1 = sum2/sizeMovAg;
s1725696 13:c087c0f64769 283 Average2 = sum3/sizeMovAg;
s1725696 13:c087c0f64769 284
s1725696 14:abc125dcc246 285 // Sending the signal to the HIDScope
s1725696 14:abc125dcc246 286 // Change the number of channels in the beginning of the script when necessary
s1725696 14:abc125dcc246 287 scope.set( 0, emg0);
s1725696 14:abc125dcc246 288 scope.set( 1, low0);
s1725696 13:c087c0f64769 289 scope.set( 2, Average0);
s1725696 13:c087c0f64769 290 scope.set( 3, low1);
s1725696 13:c087c0f64769 291 scope.set( 4, emg2);
s1725696 13:c087c0f64769 292 scope.set( 5, low2);
s1725696 13:c087c0f64769 293 scope.send();
s1725696 14:abc125dcc246 294 }
s1725696 10:56136a0da8c1 295
s1725696 17:65943f6e11dc 296 // This must be applied to all emg signals coming in
s1725696 17:65943f6e11dc 297 void processing_emg()
s1725696 17:65943f6e11dc 298 {
s1725696 17:65943f6e11dc 299 filtering();
s1725696 17:65943f6e11dc 300 MovAg();
s1725696 17:65943f6e11dc 301 }
s1725696 17:65943f6e11dc 302
s1725696 10:56136a0da8c1 303 // WAIT
s1725696 10:56136a0da8c1 304 // To do nothing
s1725696 10:56136a0da8c1 305 void wait_mode()
s1725696 10:56136a0da8c1 306 {
s1725696 10:56136a0da8c1 307 // go back to the initial values
s1725696 10:56136a0da8c1 308 // Copy here the variables list with initial values
s1725696 13:c087c0f64769 309 // all pwm's to zero
s1725696 13:c087c0f64769 310 // all counts to zero
s1725696 10:56136a0da8c1 311 }
s1725696 10:56136a0da8c1 312
s1725696 10:56136a0da8c1 313 // MOTOR_CAL
s1725696 10:56136a0da8c1 314 // To calibrate the motor angle to some mechanical boundaries
s1725696 10:56136a0da8c1 315 // Kenneth mee bezig
s1725696 12:b2b082e73ef1 316 void pos_store(int a){ //store position in counts to know count location of the ends of bridge
s1725696 12:b2b082e73ef1 317
s1725696 13:c087c0f64769 318 if (tower_1_position == 0.1)
s1725696 13:c087c0f64769 319 {
s1725696 12:b2b082e73ef1 320 tower_1_position = a;
s1725696 12:b2b082e73ef1 321 }
s1725696 13:c087c0f64769 322 else if (tower_end_position == 0.1)
s1725696 13:c087c0f64769 323 {
s1725696 12:b2b082e73ef1 324 tower_end_position = a;
s1725696 12:b2b082e73ef1 325 }
s1725696 13:c087c0f64769 326 else if (rotation_start_position == 0.1)
s1725696 13:c087c0f64769 327 {
s1725696 12:b2b082e73ef1 328 rotation_start_position = a;
s1725696 12:b2b082e73ef1 329 }
s1725696 12:b2b082e73ef1 330 }
s1725696 12:b2b082e73ef1 331
s1725696 12:b2b082e73ef1 332 // Start translation
s1725696 12:b2b082e73ef1 333 void translation_start(int a, float b) // a = dir , b = speed
s1725696 12:b2b082e73ef1 334 {
s1725696 12:b2b082e73ef1 335 dirpin_1.write(a);
s1725696 12:b2b082e73ef1 336 pwmpin_1 = b;
s1725696 12:b2b082e73ef1 337 }
s1725696 12:b2b082e73ef1 338
s1725696 12:b2b082e73ef1 339 // Stop translation
s1725696 12:b2b082e73ef1 340 void translation_stop()
s1725696 12:b2b082e73ef1 341 {
s1725696 12:b2b082e73ef1 342 pwmpin_1 = 0.0;
s1725696 12:b2b082e73ef1 343 }
s1725696 12:b2b082e73ef1 344
s1725696 12:b2b082e73ef1 345 // Start rotation
s1725696 12:b2b082e73ef1 346 void rotation_start(int a, float b)
s1725696 12:b2b082e73ef1 347 {
s1725696 12:b2b082e73ef1 348 dirpin_2.write(a);
s1725696 12:b2b082e73ef1 349 pwmpin_2 = b;
s1725696 12:b2b082e73ef1 350 }
s1725696 12:b2b082e73ef1 351
s1725696 12:b2b082e73ef1 352 // Stop rotation
s1725696 12:b2b082e73ef1 353 void rotation_stop()
s1725696 12:b2b082e73ef1 354 {
s1725696 12:b2b082e73ef1 355 pwmpin_2 = 0.0;
s1725696 12:b2b082e73ef1 356 }
s1725696 12:b2b082e73ef1 357
s1725696 12:b2b082e73ef1 358 // Calibration of translation
s1725696 12:b2b082e73ef1 359 void calibration_translation()
s1725696 12:b2b082e73ef1 360 {
s1725696 12:b2b082e73ef1 361 for(int m = 1; m <= 2; m++) // to do each direction one time
s1725696 12:b2b082e73ef1 362 {
s1725696 14:abc125dcc246 363 // dir = 0, means that the pen moves to the translation motor, dir = 1 means it moves to the rotation motor
s1725696 12:b2b082e73ef1 364 pc.printf("\r\nTranslatie loop\r\n");
s1725696 12:b2b082e73ef1 365 translation_start(dir,speed);
s1725696 12:b2b082e73ef1 366 pc.printf("Direction = %i\r\n", dir);
s1725696 12:b2b082e73ef1 367
s1725696 12:b2b082e73ef1 368 bool g = true; // to make a condition for the while loop
s1725696 12:b2b082e73ef1 369 while (g == true)
s1725696 12:b2b082e73ef1 370 {
s1725696 12:b2b082e73ef1 371 if (button_demo == false) // if button_demo is pushed, the translation should stop and change direction
s1725696 12:b2b082e73ef1 372 {
s1725696 12:b2b082e73ef1 373 translation_stop();
s1725696 12:b2b082e73ef1 374 pos_store(Counts1(counts1));
s1725696 12:b2b082e73ef1 375 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 376 dir = dir + 1;
s1725696 12:b2b082e73ef1 377
s1725696 12:b2b082e73ef1 378 g = false; // to end the while loop
s1725696 12:b2b082e73ef1 379 }
s1725696 12:b2b082e73ef1 380
s1725696 12:b2b082e73ef1 381 wait(0.01);
s1725696 12:b2b082e73ef1 382 }
s1725696 12:b2b082e73ef1 383
s1725696 15:2772f8cbf382 384 wait(1.0); // wait 3 seconds before next round of translation/rotation
s1725696 12:b2b082e73ef1 385 }
s1725696 12:b2b082e73ef1 386 }
s1725696 12:b2b082e73ef1 387
s1725696 12:b2b082e73ef1 388 void calibration_rotation()
s1725696 12:b2b082e73ef1 389 {
s1725696 12:b2b082e73ef1 390 rotation_start(dir, speed);
s1725696 12:b2b082e73ef1 391 pc.printf("\r\nRotatie start\r\n");
s1725696 12:b2b082e73ef1 392
s1725696 12:b2b082e73ef1 393 bool f = true; // condition for while loop
s1725696 12:b2b082e73ef1 394 while(f == true)
s1725696 12:b2b082e73ef1 395 {
s1725696 12:b2b082e73ef1 396 if (button_motorcal == false) // If button_motorcal is pushed, then the motor should stop and remain in that position until homing
s1725696 12:b2b082e73ef1 397 {
s1725696 12:b2b082e73ef1 398 rotation_stop();
s1725696 12:b2b082e73ef1 399
s1725696 12:b2b082e73ef1 400 f = false; // to end the while loop
s1725696 12:b2b082e73ef1 401 }
s1725696 12:b2b082e73ef1 402
s1725696 12:b2b082e73ef1 403 wait(0.01);
s1725696 12:b2b082e73ef1 404 }
s1725696 14:abc125dcc246 405 int start_counts = 0;
s1725696 14:abc125dcc246 406 pos_store(Counts2(start_counts));
s1725696 12:b2b082e73ef1 407 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 408 }
s1725696 12:b2b082e73ef1 409
s1725696 10:56136a0da8c1 410 void motor_calibration()
s1725696 10:56136a0da8c1 411 {
s1725696 12:b2b082e73ef1 412 // translation
s1725696 12:b2b082e73ef1 413 calibration_translation();
s1725696 12:b2b082e73ef1 414
s1725696 12:b2b082e73ef1 415 pc.printf("before wait\r\n");
s1725696 12:b2b082e73ef1 416 wait(1.5);
s1725696 12:b2b082e73ef1 417
s1725696 12:b2b082e73ef1 418 // rotation
s1725696 12:b2b082e73ef1 419 calibration_rotation();
s1725696 12:b2b082e73ef1 420
s1725696 12:b2b082e73ef1 421 pc.printf("Motor calibration done");
s1725696 10:56136a0da8c1 422 }
s1725696 10:56136a0da8c1 423
s1725696 10:56136a0da8c1 424 // EMG_CAL
s1725696 10:56136a0da8c1 425 // To calibrate the EMG signal to some boundary values
s1725696 13:c087c0f64769 426 // Void to switch between signals to calibrate
s1725696 13:c087c0f64769 427 void switch_to_calibrate()
s1725696 13:c087c0f64769 428 {
s1725696 13:c087c0f64769 429 g++;
s1725696 13:c087c0f64769 430 //If g = 0, led is blue
s1725696 13:c087c0f64769 431 if (g == 0)
s1725696 13:c087c0f64769 432 {
s1725696 13:c087c0f64769 433 led_blue==0;
s1725696 13:c087c0f64769 434 led_red==1;
s1725696 13:c087c0f64769 435 led_green==1;
s1725696 13:c087c0f64769 436 }
s1725696 13:c087c0f64769 437 //If g = 1, led is red
s1725696 13:c087c0f64769 438 else if(g == 1)
s1725696 13:c087c0f64769 439 {
s1725696 13:c087c0f64769 440 led_blue==1;
s1725696 13:c087c0f64769 441 led_red==0;
s1725696 13:c087c0f64769 442 led_green==1;
s1725696 13:c087c0f64769 443 }
s1725696 13:c087c0f64769 444 //If g = 2, led is green
s1725696 13:c087c0f64769 445 else if(g == 2)
s1725696 13:c087c0f64769 446 {
s1725696 13:c087c0f64769 447 led_blue==1;
s1725696 13:c087c0f64769 448 led_red==1;
s1725696 13:c087c0f64769 449 led_green==0;
s1725696 13:c087c0f64769 450 }
s1725696 13:c087c0f64769 451 //If g > 3, led is white
s1725696 13:c087c0f64769 452 else
s1725696 13:c087c0f64769 453 {
s1725696 13:c087c0f64769 454 led_blue==0;
s1725696 13:c087c0f64769 455 led_red==0;
s1725696 13:c087c0f64769 456 led_green==0;
s1725696 13:c087c0f64769 457 emg_calib = 0;
s1725696 13:c087c0f64769 458 g = 0;
s1725696 13:c087c0f64769 459 }
s1725696 14:abc125dcc246 460 }
s1725696 13:c087c0f64769 461
s1725696 13:c087c0f64769 462 // Void to calibrate the signals, depends on value g. While calibrating, maximal contraction is required
s1725696 14:abc125dcc246 463 void calibrate()
s1725696 13:c087c0f64769 464 {
s1725696 13:c087c0f64769 465 switch (g)
s1725696 13:c087c0f64769 466 {
s1725696 13:c087c0f64769 467 case 0:
s1725696 13:c087c0f64769 468 { // Case zero, calibrate EMG signal of right biceps
s1725696 13:c087c0f64769 469 sum = 0.0;
s1725696 13:c087c0f64769 470
s1725696 13:c087c0f64769 471 //For statement to make an array of the latest datapoints of the filtered signal
s1725696 13:c087c0f64769 472 for (int j = 0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 473 {
s1725696 13:c087c0f64769 474
s1725696 13:c087c0f64769 475 StoreCali0[j] = low0; // Stores the latest datapoint in the first element of the array
s1725696 13:c087c0f64769 476 sum+=StoreCali0[j]; // Sums the elements in the array
s1725696 13:c087c0f64769 477 wait(0.001f);
s1725696 13:c087c0f64769 478 }
s1725696 13:c087c0f64769 479 Mean0 = sum/sizeCali; // Calculates the mean of the signal
s1725696 13:c087c0f64769 480 Threshold0 = Mean0; // Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 481 break;
s1725696 13:c087c0f64769 482 }
s1725696 13:c087c0f64769 483 case 1:
s1725696 13:c087c0f64769 484 { // Case one, calibrate EMG signal of left biceps
s1725696 13:c087c0f64769 485 sum = 0.0;
s1725696 13:c087c0f64769 486 for(int j=0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 487 {
s1725696 13:c087c0f64769 488 StoreCali1[j] = low1;
s1725696 13:c087c0f64769 489 sum+=StoreCali1[j];
s1725696 13:c087c0f64769 490 wait(0.001f);
s1725696 13:c087c0f64769 491 }
s1725696 13:c087c0f64769 492 Mean1 = sum/sizeCali;
s1725696 13:c087c0f64769 493 Threshold1 = Mean1; // Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 494 break;
s1725696 13:c087c0f64769 495 }
s1725696 13:c087c0f64769 496 case 2:
s1725696 13:c087c0f64769 497 { // Case two, calibrate EMG signal of calf
s1725696 13:c087c0f64769 498 sum = 0.0;
s1725696 13:c087c0f64769 499 for(int j=0; j<=sizeCali-1; j++)
s1725696 13:c087c0f64769 500 {
s1725696 13:c087c0f64769 501 StoreCali2[j] = low2;
s1725696 13:c087c0f64769 502 sum+=StoreCali2[j];
s1725696 13:c087c0f64769 503 wait(0.001f);
s1725696 13:c087c0f64769 504 }
s1725696 13:c087c0f64769 505 Mean2 = sum/sizeCali;
s1725696 13:c087c0f64769 506 Threshold2 = Mean2; //Factor *2 is for resting and *1 is for max contraction
s1725696 13:c087c0f64769 507 break;
s1725696 13:c087c0f64769 508 }
s1725696 13:c087c0f64769 509 case 3:
s1725696 13:c087c0f64769 510 { // Sets calibration value to 1; robot can be set to Home position
s1725696 13:c087c0f64769 511 emg_calib=1;
s1725696 13:c087c0f64769 512 wait(0.001f);
s1725696 13:c087c0f64769 513 break;
s1725696 13:c087c0f64769 514 }
s1725696 13:c087c0f64769 515 default:
s1725696 13:c087c0f64769 516 { // Ensures nothing happens if g is not equal to 0, 1 or 2.
s1725696 13:c087c0f64769 517 break;
s1725696 13:c087c0f64769 518 }
s1725696 13:c087c0f64769 519 }
s1725696 13:c087c0f64769 520 }
s1725696 13:c087c0f64769 521
s1725696 13:c087c0f64769 522 // Void to calibrate the EMG signal
s1725696 10:56136a0da8c1 523 void emg_calibration()
s1725696 10:56136a0da8c1 524 {
s1725696 13:c087c0f64769 525 for(int m = 1; m <= 4; m++)
s1725696 13:c087c0f64769 526 {
s1725696 13:c087c0f64769 527 led_blue == 0;
s1725696 13:c087c0f64769 528 led_red == 1;
s1725696 17:65943f6e11dc 529 led_green == 1;
s1725696 13:c087c0f64769 530
s1725696 13:c087c0f64769 531 pc.printf("g is %i\n\r",g);
s1725696 13:c087c0f64769 532 pc.printf("Average0 = %f , Average1 = %f, Average2 = %f \n\r",Average0, Average1, Average2);
s1725696 13:c087c0f64769 533 pc.printf("Thresh0 = %f , Thresh1 = %f, Thresh2 = %f \n\r",Threshold0, Threshold1, Threshold2);
s1725696 13:c087c0f64769 534
s1725696 13:c087c0f64769 535 bool k = true;
s1725696 13:c087c0f64769 536 while(k == true)
s1725696 13:c087c0f64769 537 {
s1725696 13:c087c0f64769 538 if(button_motorcal == false)
s1725696 13:c087c0f64769 539 {
s1725696 13:c087c0f64769 540 calibrate(); // Calibrate threshold for 3 muscles
s1725696 13:c087c0f64769 541 k = false;
s1725696 13:c087c0f64769 542 }
s1725696 13:c087c0f64769 543 wait(0.2f); // Wait to avoid bouncing of button
s1725696 13:c087c0f64769 544 }
s1725696 13:c087c0f64769 545
s1725696 13:c087c0f64769 546 bool h = true;
s1725696 13:c087c0f64769 547 while(h == true)
s1725696 13:c087c0f64769 548 {
s1725696 13:c087c0f64769 549 if (button_demo == false)
s1725696 13:c087c0f64769 550 {
s1725696 13:c087c0f64769 551 switch_to_calibrate(); // Switch state of calibration (which muscle)
s1725696 13:c087c0f64769 552 h = false;
s1725696 13:c087c0f64769 553 }
s1725696 13:c087c0f64769 554
s1725696 13:c087c0f64769 555 wait(0.2f); // Wait to avoid bouncing of button
s1725696 13:c087c0f64769 556 }
s1725696 13:c087c0f64769 557 }
s1725696 14:abc125dcc246 558
s1725696 14:abc125dcc246 559 // Turning all leds off
s1725696 14:abc125dcc246 560 led_red == 1;
s1725696 14:abc125dcc246 561 led_blue == 1;
s1725696 14:abc125dcc246 562 led_green == 1;
s1725696 10:56136a0da8c1 563 }
s1725696 0:cb8857cf3ea4 564
s1725696 10:56136a0da8c1 565 // START
s1725696 0:cb8857cf3ea4 566 // To move the robot to the starting position: middle
s1725696 10:56136a0da8c1 567 void start_mode()
s1725696 4:8183e7b228f0 568 {
s1725696 12:b2b082e73ef1 569 // move to middle, only motor1 has to do something, the other one you can move yourself during the calibration
s1725696 18:db53ac017f50 570 int a = tower_end_position - ((tower_end_position - tower_1_position)/2);
s1725696 18:db53ac017f50 571 pc.printf("position middle = %i, position pen = %i \r\n", a, Counts1(counts1));
s1725696 18:db53ac017f50 572
s1725696 14:abc125dcc246 573 //translation home
s1725696 18:db53ac017f50 574 if (Counts1(counts1) > a)
s1725696 14:abc125dcc246 575 {
s1725696 18:db53ac017f50 576 translation_start(1,1.0);
s1725696 18:db53ac017f50 577 pc.printf("start to 1 \r\n");
s1725696 14:abc125dcc246 578 }
s1725696 14:abc125dcc246 579 else {
s1725696 18:db53ac017f50 580 translation_start(0,1.0);
s1725696 18:db53ac017f50 581 pc.printf("start to 0 \r\n");
s1725696 14:abc125dcc246 582 }
s1725696 18:db53ac017f50 583 while(true){
s1725696 18:db53ac017f50 584 if ((Counts1(counts1) > (a - 500)) && (Counts1(counts1) < (a + 500)))
s1725696 14:abc125dcc246 585 {
s1725696 14:abc125dcc246 586 translation_stop();
s1725696 18:db53ac017f50 587 pc.printf("stop \r\n");
s1725696 18:db53ac017f50 588 break;
s1725696 14:abc125dcc246 589 }
s1725696 4:8183e7b228f0 590 }
s1725696 18:db53ac017f50 591 }
s1725696 0:cb8857cf3ea4 592
s1725696 10:56136a0da8c1 593 // OPERATING
s1725696 0:cb8857cf3ea4 594 // To control the robot with EMG signals
s1725696 17:65943f6e11dc 595 // Function for using muscle for direction control
s1725696 17:65943f6e11dc 596 void Directioncontrol()
s1725696 17:65943f6e11dc 597 {
s1725696 17:65943f6e11dc 598 enum direction {Pos_RB, Pos_LB, Pos_RO, Pos_LO};
s1725696 17:65943f6e11dc 599 direction currentdirection = Pos_RB;
s1725696 17:65943f6e11dc 600 bool directionchanged = true;
s1725696 17:65943f6e11dc 601
s1725696 17:65943f6e11dc 602 switch (currentdirection)
s1725696 17:65943f6e11dc 603 {
s1725696 17:65943f6e11dc 604 case Pos_RB:
s1725696 17:65943f6e11dc 605
s1725696 17:65943f6e11dc 606 if (directionchanged)
s1725696 17:65943f6e11dc 607 {
s1725696 17:65943f6e11dc 608 desired_x = desired_x;
s1725696 17:65943f6e11dc 609 desired_y = desired_y;
s1725696 17:65943f6e11dc 610 directionchanged = false;
s1725696 17:65943f6e11dc 611 }
s1725696 17:65943f6e11dc 612
s1725696 17:65943f6e11dc 613 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 614 {
s1725696 17:65943f6e11dc 615 currentdirection = Pos_LB;
s1725696 17:65943f6e11dc 616 pc.printf("\r\n direction = Pos_LB\r\n");
s1725696 17:65943f6e11dc 617 directionchanged = true;
s1725696 17:65943f6e11dc 618 }
s1725696 17:65943f6e11dc 619
s1725696 17:65943f6e11dc 620 break;
s1725696 17:65943f6e11dc 621
s1725696 17:65943f6e11dc 622 case Pos_LB:
s1725696 17:65943f6e11dc 623
s1725696 17:65943f6e11dc 624 if(directionchanged)
s1725696 17:65943f6e11dc 625 {
s1725696 17:65943f6e11dc 626 desired_x = desired_x * -1.0;
s1725696 17:65943f6e11dc 627 desired_y = desired_y;
s1725696 17:65943f6e11dc 628 directionchanged = false;
s1725696 17:65943f6e11dc 629 }
s1725696 17:65943f6e11dc 630
s1725696 17:65943f6e11dc 631 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 632 {
s1725696 17:65943f6e11dc 633 currentdirection = Pos_RO;
s1725696 17:65943f6e11dc 634 pc.printf("\r\n direction = Pos_RO\r\n");
s1725696 17:65943f6e11dc 635 directionchanged = true;
s1725696 17:65943f6e11dc 636 }
s1725696 17:65943f6e11dc 637
s1725696 17:65943f6e11dc 638 break;
s1725696 17:65943f6e11dc 639
s1725696 17:65943f6e11dc 640 case Pos_RO:
s1725696 17:65943f6e11dc 641
s1725696 17:65943f6e11dc 642 if(directionchanged)
s1725696 17:65943f6e11dc 643 {
s1725696 17:65943f6e11dc 644 desired_x = desired_x;
s1725696 17:65943f6e11dc 645 Average1 = Average1 * -1.0;
s1725696 17:65943f6e11dc 646 directionchanged = false;
s1725696 17:65943f6e11dc 647 }
s1725696 17:65943f6e11dc 648
s1725696 17:65943f6e11dc 649 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 650 {
s1725696 17:65943f6e11dc 651 currentdirection = Pos_LO;
s1725696 17:65943f6e11dc 652 pc.printf("\r\n direction = Pos_LO\r\n");
s1725696 17:65943f6e11dc 653 directionchanged = true;
s1725696 17:65943f6e11dc 654 }
s1725696 17:65943f6e11dc 655
s1725696 17:65943f6e11dc 656 break;
s1725696 17:65943f6e11dc 657
s1725696 17:65943f6e11dc 658 case Pos_LO:
s1725696 17:65943f6e11dc 659
s1725696 17:65943f6e11dc 660 if(directionchanged)
s1725696 17:65943f6e11dc 661 {
s1725696 17:65943f6e11dc 662 desired_x = desired_x * -1.0;
s1725696 17:65943f6e11dc 663 desired_y = desired_y * -1.0;
s1725696 17:65943f6e11dc 664 directionchanged = false;
s1725696 17:65943f6e11dc 665 }
s1725696 17:65943f6e11dc 666
s1725696 17:65943f6e11dc 667 if (Average2 > Threshold2)
s1725696 17:65943f6e11dc 668 {
s1725696 17:65943f6e11dc 669 currentdirection = Pos_RB;
s1725696 17:65943f6e11dc 670 pc.printf("\r\n direction = Pos_RB\r\n");
s1725696 17:65943f6e11dc 671 directionchanged = true;
s1725696 17:65943f6e11dc 672 }
s1725696 17:65943f6e11dc 673
s1725696 17:65943f6e11dc 674 break;
s1725696 17:65943f6e11dc 675 }
s1725696 17:65943f6e11dc 676 }
s1725696 17:65943f6e11dc 677
s1725696 17:65943f6e11dc 678
s1725696 17:65943f6e11dc 679 // PID controller
s1725696 17:65943f6e11dc 680 // To control the input signal before it goes into the motor control
s1725696 17:65943f6e11dc 681 // PID execution
s1725696 17:65943f6e11dc 682 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 683 {
s1725696 17:65943f6e11dc 684 // P control
s1725696 17:65943f6e11dc 685 double u_k = kp * error;
s1725696 17:65943f6e11dc 686
s1725696 17:65943f6e11dc 687 // I control
s1725696 17:65943f6e11dc 688 error_int = error_int + (Ts * error);
s1725696 17:65943f6e11dc 689 double u_i = ki * error_int;
s1725696 17:65943f6e11dc 690
s1725696 17:65943f6e11dc 691 // D control
s1725696 17:65943f6e11dc 692 double error_deriv = (error - error_prev);
s1725696 17:65943f6e11dc 693 double u_d = kd * error_deriv;
s1725696 17:65943f6e11dc 694 error_prev = error;
s1725696 17:65943f6e11dc 695
s1725696 17:65943f6e11dc 696 return u_k + u_i + u_d;
s1725696 17:65943f6e11dc 697 }
s1725696 17:65943f6e11dc 698
s1725696 16:37b491eac34b 699 void boundaries()
s1725696 16:37b491eac34b 700 {
s1725696 16:37b491eac34b 701 double q2tot = q2 + dq2;
s1725696 16:37b491eac34b 702 if (q2tot > q2end)
s1725696 16:37b491eac34b 703 {
s1725696 16:37b491eac34b 704 dq2 = 0;
s1725696 16:37b491eac34b 705 } //kan ook zeggen q2end-q2 is dat dan juiste waarde of moet q2-q2end?
s1725696 16:37b491eac34b 706 else if (q2tot < q2start)
s1725696 16:37b491eac34b 707 {
s1725696 16:37b491eac34b 708 dq2 = 0;
s1725696 16:37b491eac34b 709 }
s1725696 16:37b491eac34b 710 else{}
s1725696 16:37b491eac34b 711 }
s1725696 16:37b491eac34b 712
s1725696 16:37b491eac34b 713 void motor_control()
s1725696 12:b2b082e73ef1 714 {
s1725696 16:37b491eac34b 715 // servocontrol(); // make sure the servo is used in this mode, maybe attach to a ticker?
s1725696 17:65943f6e11dc 716
s1725696 17:65943f6e11dc 717 // filtering emg
s1725696 17:65943f6e11dc 718
s1725696 17:65943f6e11dc 719 if (Average0 > Threshold0)
s1725696 17:65943f6e11dc 720 {
s1725696 17:65943f6e11dc 721 desired_x = 1.0;
s1725696 17:65943f6e11dc 722 }
s1725696 17:65943f6e11dc 723
s1725696 17:65943f6e11dc 724 if (Average1 > Threshold1)
s1725696 17:65943f6e11dc 725 {
s1725696 17:65943f6e11dc 726 desired_y = 1.0;
s1725696 17:65943f6e11dc 727 }
s1725696 17:65943f6e11dc 728
s1725696 17:65943f6e11dc 729
s1725696 17:65943f6e11dc 730 // calling functions
s1725696 17:65943f6e11dc 731 Directioncontrol();
s1725696 17:65943f6e11dc 732
s1725696 17:65943f6e11dc 733 // motor control
s1725696 17:65943f6e11dc 734 out1 = (desired_x* 2.0f) - 1.0f; //control x-direction
s1725696 17:65943f6e11dc 735 out2 = (desired_y * 2.0f) - 1.0f; //control y-direction
s1725696 16:37b491eac34b 736 vdesx = out1 * 20.0; //speed x-direction
s1725696 16:37b491eac34b 737 vdesy = out2 * 20.0; //speed y-direction
s1725696 16:37b491eac34b 738
s1725696 18:db53ac017f50 739 q1 = Counts2(counts2) * alpha + q1start; //counts to rotation (rad)
s1725696 18:db53ac017f50 740 q2 = Counts1(counts1)* beta + q2start; //counts to translation (mm)
s1725696 17:65943f6e11dc 741 MPe = el_1 - el_2 + q2; //x location end effector, x-axis along the translation
s1725696 16:37b491eac34b 742 xe = cos(q1) * MPe; //x location in frame 0
s1725696 16:37b491eac34b 743 ye = sin(q1) * MPe; //y location in frame 0
s1725696 16:37b491eac34b 744 gamma = 1.0 /((-1.0 * ye * sin(q1)) - (xe * cos(q1))); //(1 / det(J'')inverse)
s1725696 16:37b491eac34b 745 dq1 = gamma * delta_t * (sin(q1) * vdesx - cos(q1) * vdesy); //target rotation
s1725696 16:37b491eac34b 746 dq2 = gamma * delta_t * (-1.0 * xe * vdesx - ye * vdesy); //target translation
s1725696 16:37b491eac34b 747 boundaries();
s1725696 16:37b491eac34b 748 dC1 = PID_control( dq1, Rot_Kp, Rot_Ki, Rot_Kd, Rot_error, Rot_prev_error) / alpha; //target rotation to counts
s1725696 16:37b491eac34b 749 dC2 = PID_control( dq2, Trans_Kp, Trans_Ki, Trans_Kd, Trans_error, Trans_prev_error) / beta; //target translation to counts
s1725696 16:37b491eac34b 750 pwm1 = 3.0 * (dC1 / delta_t) / 8400.0; //
s1725696 16:37b491eac34b 751 pwm2 = 3.0 * (dC2 / delta_t) / 8400.0; //
s1725696 18:db53ac017f50 752 dirpin_1.write(pwm2 < 0); // translatie
s1725696 18:db53ac017f50 753 pwmpin_1 = fabs (pwm2);
s1725696 18:db53ac017f50 754 dirpin_2.write(pwm1 < 0); // rotatie
s1725696 18:db53ac017f50 755 pwmpin_2 = fabs (pwm1);
s1725696 16:37b491eac34b 756 }
s1725696 0:cb8857cf3ea4 757
s1725696 10:56136a0da8c1 758 // DEMO
s1725696 0:cb8857cf3ea4 759 // To control the robot with a written code and write 'HELLO'
s1725696 4:8183e7b228f0 760 // Voor het laatst bewaren
s1725696 10:56136a0da8c1 761 void demo_mode()
s1725696 10:56136a0da8c1 762 {
s1725696 10:56136a0da8c1 763 // code here
s1725696 10:56136a0da8c1 764 }
s1725696 0:cb8857cf3ea4 765
s1725696 10:56136a0da8c1 766 // FAILURE
s1725696 0:cb8857cf3ea4 767 // To shut down the robot after an error etc
s1725696 13:c087c0f64769 768 void failure_mode()
s1725696 10:56136a0da8c1 769 {
s1725696 18:db53ac017f50 770 if (button_emergency == false) // condition for MOTOR_CAL --> FAILURE; button_emergency press
s1725696 18:db53ac017f50 771 {
s1725696 18:db53ac017f50 772 led_red == 0; // turning red led on to show emergency mode
s1725696 14:abc125dcc246 773
s1725696 18:db53ac017f50 774 // all pwmpins zero
s1725696 18:db53ac017f50 775 pwmpin_1 = 0.0;
s1725696 18:db53ac017f50 776 pwmpin_2 = 0.0;
s1725696 14:abc125dcc246 777
s1725696 18:db53ac017f50 778 // Servo up?
s1725696 18:db53ac017f50 779 // myservo = 0.1;
s1725696 14:abc125dcc246 780
s1725696 18:db53ac017f50 781 pc.printf("\r\nEmergency mode, reset system to continue\r\n");
s1725696 18:db53ac017f50 782 }
s1725696 10:56136a0da8c1 783 }
s1725696 0:cb8857cf3ea4 784
s1725696 0:cb8857cf3ea4 785 // Main function
s1725696 4:8183e7b228f0 786 // -----------------------------------------------------------------------------
s1725696 0:cb8857cf3ea4 787 int main()
s1725696 0:cb8857cf3ea4 788 {
s1725696 0:cb8857cf3ea4 789 pc.baud(115200); // For TeraTerm, the baudrate, set also in TeraTerm itself!
s1725696 0:cb8857cf3ea4 790 pc.printf("Start code\r\n"); // To check if the program starts
s1725696 9:d7a6a3619576 791 pwmpin_1.period_us(60); // Setting period for PWM
s1725696 17:65943f6e11dc 792 process_tick.attach(&processing_emg,T); // EMG signals must be filtered all the time! EMG signals filtered every T sec.
s1725696 18:db53ac017f50 793 emergency.attach(&failure_mode,0.01); // To make sure you can go to emergency mode all the time
s1725696 1:1a8211e1f3f3 794
s1725696 1:1a8211e1f3f3 795 while(true){
s1725696 6:f495a77c2c95 796 // timer
s1725696 6:f495a77c2c95 797 clock_t start; // start the timer
s1725696 6:f495a77c2c95 798 start = clock();
s1725696 9:d7a6a3619576 799 time_overall = (clock() - start) / (double) CLOCKS_PER_SEC;
s1725696 14:abc125dcc246 800 myservo = 0.1; // Keep the pen lifted until servo function is called (operation mode)
s1725696 5:3581013d4505 801
s1725696 6:f495a77c2c95 802 //pc.printf("potmeter value = %f ", potmeter_value);
s1725696 6:f495a77c2c95 803 //pc.printf("counts = %i\r\n", counts);
s1725696 5:3581013d4505 804
s1725696 6:f495a77c2c95 805 // With the help of a switch loop and states we can switch between states and the robot knows what to do
s1725696 9:d7a6a3619576 806 switch(CurrentState)
s1725696 6:f495a77c2c95 807 {
s1725696 6:f495a77c2c95 808 case WAIT:
s1725696 6:f495a77c2c95 809
s1725696 6:f495a77c2c95 810 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 811 {
s1725696 18:db53ac017f50 812 pc.printf("\r\nState is WAIT\r\n");
s1725696 10:56136a0da8c1 813
s1725696 6:f495a77c2c95 814 // Execute WAIT mode
s1725696 10:56136a0da8c1 815 wait_mode();
s1725696 10:56136a0da8c1 816
s1725696 6:f495a77c2c95 817 StateChanged = false; // the state is still WAIT
s1725696 6:f495a77c2c95 818 }
s1725696 6:f495a77c2c95 819
s1725696 12:b2b082e73ef1 820 if(button_motorcal == false) // condition for WAIT --> MOTOR_CAl; button_motorcal press
s1725696 6:f495a77c2c95 821 {
s1725696 6:f495a77c2c95 822 CurrentState = MOTOR_CAL;
s1725696 18:db53ac017f50 823 pc.printf("\r\nState is MOTOR_CAL\r\n");
s1725696 7:ec5add330cb3 824 StateChanged = true;
s1725696 7:ec5add330cb3 825 }
s1725696 6:f495a77c2c95 826
s1725696 6:f495a77c2c95 827 break;
s1725696 6:f495a77c2c95 828
s1725696 6:f495a77c2c95 829 case MOTOR_CAL:
s1725696 6:f495a77c2c95 830
s1725696 6:f495a77c2c95 831 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 832 {
s1725696 6:f495a77c2c95 833 // Execute MOTOR_CAL mode
s1725696 10:56136a0da8c1 834 motor_calibration();
s1725696 10:56136a0da8c1 835
s1725696 6:f495a77c2c95 836 StateChanged = false; // the state is still MOTOR_CAL
s1725696 6:f495a77c2c95 837 }
s1725696 6:f495a77c2c95 838
s1725696 18:db53ac017f50 839 if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for MOTOR_CAL --> EMG_CAL; 3s and motors stopped moving
s1725696 6:f495a77c2c95 840 {
s1725696 6:f495a77c2c95 841 CurrentState = EMG_CAL;
s1725696 18:db53ac017f50 842 pc.printf("\r\nState is EMG_CAL\r\n");
s1725696 6:f495a77c2c95 843 StateChanged = true;
s1725696 6:f495a77c2c95 844 }
s1725696 18:db53ac017f50 845
s1725696 6:f495a77c2c95 846 break;
s1725696 6:f495a77c2c95 847
s1725696 6:f495a77c2c95 848 case EMG_CAL:
s1725696 6:f495a77c2c95 849
s1725696 6:f495a77c2c95 850 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 851 {
s1725696 6:f495a77c2c95 852 // Execute EMG_CAL mode
s1725696 10:56136a0da8c1 853 emg_calibration();
s1725696 10:56136a0da8c1 854
s1725696 6:f495a77c2c95 855 StateChanged = false; // state is still EMG_CAL
s1725696 6:f495a77c2c95 856 }
s1725696 6:f495a77c2c95 857
s1725696 18:db53ac017f50 858 if((Average0 < 0.04) && (Average1 < 0.04) && (Average2 < 0.04)) // condition for EMG_CAL --> START; 5s and EMG is low
s1725696 6:f495a77c2c95 859 {
s1725696 6:f495a77c2c95 860 CurrentState = START;
s1725696 18:db53ac017f50 861 pc.printf("\r\nState is START\r\n");
s1725696 7:ec5add330cb3 862 StateChanged = true;
s1725696 7:ec5add330cb3 863 }
s1725696 7:ec5add330cb3 864
s1725696 6:f495a77c2c95 865 break;
s1725696 6:f495a77c2c95 866
s1725696 6:f495a77c2c95 867 case START:
s1725696 6:f495a77c2c95 868
s1725696 6:f495a77c2c95 869 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 870 {
s1725696 6:f495a77c2c95 871 // Execute START mode
s1725696 10:56136a0da8c1 872 start_mode();
s1725696 10:56136a0da8c1 873
s1725696 18:db53ac017f50 874 pc.printf("pwmpin_1 = %f pwmpin_2 = %f \r\n", pwmpin_1, pwmpin_2);
s1725696 10:56136a0da8c1 875
s1725696 6:f495a77c2c95 876 StateChanged = false; // state is still START
s1725696 6:f495a77c2c95 877 }
s1725696 6:f495a77c2c95 878
s1725696 18:db53ac017f50 879 if((pwmpin_1 < 0.01) && (pwmpin_2 < 0.01)) // condition for START --> OPERATING; 5s and motors stopped moving
s1725696 6:f495a77c2c95 880 {
s1725696 6:f495a77c2c95 881 CurrentState = OPERATING;
s1725696 18:db53ac017f50 882 pc.printf("\r\nState is OPERATING\r\n");
s1725696 6:f495a77c2c95 883 StateChanged = true;
s1725696 6:f495a77c2c95 884 }
s1725696 18:db53ac017f50 885
s1725696 6:f495a77c2c95 886 break;
s1725696 6:f495a77c2c95 887
s1725696 6:f495a77c2c95 888 case OPERATING:
s1725696 6:f495a77c2c95 889
s1725696 6:f495a77c2c95 890 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 891 {
s1725696 6:f495a77c2c95 892 // Execute OPERATING mode
s1725696 17:65943f6e11dc 893 while(true)
s1725696 16:37b491eac34b 894 {
s1725696 16:37b491eac34b 895 motor_control();
s1725696 16:37b491eac34b 896 pc.printf("PWM_rot = %f PWM_trans = %f VdesX = %f VdesY = %f \n\r",pwm1,pwm2,vdesx,vdesy);
s1725696 17:65943f6e11dc 897
s1725696 17:65943f6e11dc 898 if(button_demo == false) // condition for OPERATING --> DEMO; button_demo press
s1725696 17:65943f6e11dc 899 {
s1725696 17:65943f6e11dc 900 CurrentState = DEMO;
s1725696 18:db53ac017f50 901 pc.printf("\r\nState is DEMO\r\n");
s1725696 17:65943f6e11dc 902 StateChanged = true;
s1725696 17:65943f6e11dc 903 break;
s1725696 17:65943f6e11dc 904 }
s1725696 17:65943f6e11dc 905
s1725696 17:65943f6e11dc 906 if(button_wait == false) // condition OPERATING --> WAIT; button_wait press
s1725696 17:65943f6e11dc 907 {
s1725696 17:65943f6e11dc 908 CurrentState = WAIT;
s1725696 18:db53ac017f50 909 pc.printf("\r\nState is WAIT\r\n");
s1725696 17:65943f6e11dc 910 StateChanged = true;
s1725696 17:65943f6e11dc 911 break;
s1725696 17:65943f6e11dc 912 }
s1725696 17:65943f6e11dc 913
s1725696 16:37b491eac34b 914 wait(delta_t);
s1725696 16:37b491eac34b 915 }
s1725696 10:56136a0da8c1 916
s1725696 6:f495a77c2c95 917 StateChanged = false; // state is still OPERATING
s1725696 6:f495a77c2c95 918 }
s1725696 6:f495a77c2c95 919
s1725696 6:f495a77c2c95 920 break;
s1725696 6:f495a77c2c95 921
s1725696 6:f495a77c2c95 922 case DEMO:
s1725696 6:f495a77c2c95 923
s1725696 6:f495a77c2c95 924 if(StateChanged) // so if StateChanged is true
s1725696 6:f495a77c2c95 925 {
s1725696 6:f495a77c2c95 926 // Execute DEMO mode
s1725696 10:56136a0da8c1 927 demo_mode();
s1725696 10:56136a0da8c1 928
s1725696 6:f495a77c2c95 929 StateChanged = false; // state is still DEMO
s1725696 6:f495a77c2c95 930 }
s1725696 6:f495a77c2c95 931
s1725696 12:b2b082e73ef1 932 if(button_wait == false) // condition for DEMO --> WAIT; button_wait press
s1725696 6:f495a77c2c95 933 {
s1725696 6:f495a77c2c95 934 CurrentState = WAIT;
s1725696 18:db53ac017f50 935 pc.printf("\r\nState is WAIT\r\n");
s1725696 6:f495a77c2c95 936 StateChanged = true;
s1725696 6:f495a77c2c95 937 }
s1725696 6:f495a77c2c95 938
s1725696 6:f495a77c2c95 939 break;
s1725696 6:f495a77c2c95 940
s1725696 6:f495a77c2c95 941 // no default
s1725696 4:8183e7b228f0 942 }
s1725696 6:f495a77c2c95 943
s1725696 6:f495a77c2c95 944 // while loop does not have to loop every time
s1725696 5:3581013d4505 945 }
s1725696 5:3581013d4505 946
s1725696 0:cb8857cf3ea4 947 }