M9 Biorobotics Group 8 / Mbed 2 deprecated CARD_program

De hele robot in 1 keer bam

Dependencies:   mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@43:1bd5417ded64, 2019-10-31 (annotated)

Committer:
Jellehierck
Date:
Thu Oct 31 11:45:03 2019 +0000
Revision:
43:1bd5417ded64
Parent:
42:2937ad8f1032
Child:
44:342af9b3c1a0
Operation mode bugfixed  (still needs testing). Started implementing demo mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jellehierck 37:806c7c8381a7 1 /*
Jellehierck 37:806c7c8381a7 2 ------------------------------ ADD LIBRARIES ------------------------------
Jellehierck 37:806c7c8381a7 3 */
Jellehierck 38:8b597ab8344f 4 #include "mbed.h" // Base library
Jellehierck 38:8b597ab8344f 5 #include "HIDScope.h" // Scope connection to PC
Jellehierck 38:8b597ab8344f 6 #include "MODSERIAL.h" // Serial connection to PC
Jellehierck 38:8b597ab8344f 7 #include "BiQuad.h" // Biquad filter management
Jellehierck 38:8b597ab8344f 8 #include <vector> // Array management
Jellehierck 42:2937ad8f1032 9 #include "FastPWM.h" // PWM control
Jellehierck 42:2937ad8f1032 10 #include "QEI.h" // Encoder reading
Jellehierck 42:2937ad8f1032 11 #include <Servo.h> // Servo control
IsaRobin 0:6972d0e91af1 12
Jellehierck 15:421d3d9c563b 13 /*
Jellehierck 37:806c7c8381a7 14 ------------------------------ DEFINE MBED CONNECTIONS ------------------------------
Jellehierck 15:421d3d9c563b 15 */
IsaRobin 0:6972d0e91af1 16
Jellehierck 38:8b597ab8344f 17 // PC connections
Jellehierck 40:c6dffb676350 18 HIDScope scope( 6 );
Jellehierck 15:421d3d9c563b 19 MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 20
Jellehierck 8:ea3de43c9e8b 21 // Buttons
Jellehierck 8:ea3de43c9e8b 22 InterruptIn button1(D11);
Jellehierck 8:ea3de43c9e8b 23 InterruptIn button2(D10);
Jellehierck 37:806c7c8381a7 24 InterruptIn switch2(SW2);
Jellehierck 37:806c7c8381a7 25 InterruptIn switch3(SW3);
Jellehierck 4:09a01d2db8f7 26
Jellehierck 38:8b597ab8344f 27 // LEDs
Jellehierck 38:8b597ab8344f 28 DigitalOut led_g(LED_GREEN);
Jellehierck 38:8b597ab8344f 29 DigitalOut led_r(LED_RED);
Jellehierck 38:8b597ab8344f 30 DigitalOut led_b(LED_BLUE);
Jellehierck 38:8b597ab8344f 31
Jellehierck 38:8b597ab8344f 32 // Analog EMG inputs
Jellehierck 40:c6dffb676350 33 AnalogIn emg1_in (A0); // Right biceps -> x axis
Jellehierck 40:c6dffb676350 34 AnalogIn emg2_in (A1); // Left biceps -> y axis
Jellehierck 40:c6dffb676350 35 AnalogIn emg3_in (A2); // Third muscle -> TBD
Jellehierck 40:c6dffb676350 36
Jellehierck 40:c6dffb676350 37 // Encoder inputs
Jellehierck 40:c6dffb676350 38 DigitalIn encA1(D9);
Jellehierck 40:c6dffb676350 39 DigitalIn encB1(D8);
Jellehierck 40:c6dffb676350 40 DigitalIn encA2(D13);
Jellehierck 40:c6dffb676350 41 DigitalIn encB2(D12);
Jellehierck 40:c6dffb676350 42
Jellehierck 40:c6dffb676350 43 // Motor outputs
Jellehierck 42:2937ad8f1032 44 DigitalOut motor1Direction(D7);
Jellehierck 42:2937ad8f1032 45 FastPWM motor1Power(D6);
Jellehierck 40:c6dffb676350 46 DigitalOut motor2Direction(D4);
Jellehierck 40:c6dffb676350 47 FastPWM motor2Power(D5);
Jellehierck 42:2937ad8f1032 48
Jellehierck 42:2937ad8f1032 49 // Servo
Jellehierck 42:2937ad8f1032 50 Servo myServo(D3);
Jellehierck 38:8b597ab8344f 51
Jellehierck 15:421d3d9c563b 52 /*
Jellehierck 38:8b597ab8344f 53 ------------------------------ INITIALIZE TICKERS, TIMERS & TIMEOUTS ------------------------------
Jellehierck 38:8b597ab8344f 54 */
Jellehierck 38:8b597ab8344f 55 Ticker tickGlobal; // Set global ticker
Jellehierck 38:8b597ab8344f 56 Timer timerCalibration; // Set EMG Calibration timer
Jellehierck 38:8b597ab8344f 57
Jellehierck 38:8b597ab8344f 58 /*
Jellehierck 38:8b597ab8344f 59 ------------------------------ INITIALIZE GLOBAL VARIABLES ------------------------------
Jellehierck 15:421d3d9c563b 60 */
Jellehierck 15:421d3d9c563b 61
Jellehierck 37:806c7c8381a7 62 // State machine variables
Jellehierck 38:8b597ab8344f 63 enum GLOBAL_States { global_failure, global_wait, global_emg_cal, global_motor_cal, global_operation, global_demo }; // Define global states
Jellehierck 37:806c7c8381a7 64 GLOBAL_States global_curr_state = global_wait; // Initialize global state to waiting state
Jellehierck 37:806c7c8381a7 65 bool global_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 66 bool failure_mode = false; // Global failure mode flag (not used yet)
Jellehierck 42:2937ad8f1032 67 bool emg_cal_done = false; // Global EMG calibration flag
Jellehierck 42:2937ad8f1032 68 bool motor_cal_done = false; // Global motor calibration flag
Jellehierck 38:8b597ab8344f 69
Jellehierck 38:8b597ab8344f 70 // EMG Substate variables
Jellehierck 38:8b597ab8344f 71 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates
Jellehierck 38:8b597ab8344f 72 EMG_States emg_curr_state = emg_wait; // Initialize EMG substate variable
Jellehierck 42:2937ad8f1032 73 bool emg_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 74 bool emg_sampleNow = false; // Flag to enable EMG sampling and filtering in sampleSignals()
Jellehierck 42:2937ad8f1032 75 bool emg_calibrateNow = false; // Flag to enable EMG calibration in sampleSignals()
Jellehierck 42:2937ad8f1032 76 bool emg_MVC_cal_done = false; // Internal MVC calibration flag
Jellehierck 42:2937ad8f1032 77 bool emg_rest_cal_done = false; // Internal rest calibration flag
Jellehierck 8:ea3de43c9e8b 78
Jellehierck 40:c6dffb676350 79 // Motor Substate variables
Jellehierck 42:2937ad8f1032 80 enum Motor_States { motor_wait, motor_encoder_set, motor_finish, motor_movement }; // Define motor substates
Jellehierck 42:2937ad8f1032 81 Motor_States motor_curr_state = motor_wait; // Initialize motor substate variable
Jellehierck 42:2937ad8f1032 82 bool motor_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 83 bool motor_encoder_cal_done = false; // Internal encoder calibration flag
Jellehierck 40:c6dffb676350 84
Jellehierck 42:2937ad8f1032 85 // Operation Substate variables
Jellehierck 42:2937ad8f1032 86 enum Operation_States { operation_wait, operation_movement, operation_finish }; // Define operation substates
Jellehierck 42:2937ad8f1032 87 Operation_States operation_curr_state = operation_wait; // Initialize operation substate variable
Jellehierck 42:2937ad8f1032 88 bool operation_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 89 bool operation_showcard = false; // Internal flag to toggle servo position
Jellehierck 40:c6dffb676350 90
Jellehierck 43:1bd5417ded64 91 // Demo Substate variables
Jellehierck 43:1bd5417ded64 92 enum Demo_States { demo_wait, demo_motor_cal, demo_XY }; // Define demo substates
Jellehierck 43:1bd5417ded64 93 Demo_States demo_curr_state; // Initialize demo substate variable
Jellehierck 43:1bd5417ded64 94 bool demo_state_changed = true; // Enable entry functions
Jellehierck 43:1bd5417ded64 95
Jellehierck 37:806c7c8381a7 96 // Button press interrupts (to prevent bounce)
Jellehierck 37:806c7c8381a7 97 bool button1_pressed = false;
Jellehierck 37:806c7c8381a7 98 bool button2_pressed = false;
Jellehierck 37:806c7c8381a7 99 bool switch2_pressed = false;
Jellehierck 7:7a088536f1c9 100
Jellehierck 38:8b597ab8344f 101 // Global constants
Jellehierck 38:8b597ab8344f 102 const double Fs = 500.0;
Jellehierck 38:8b597ab8344f 103 const double Ts = 1/Fs;
Jellehierck 35:e82834e62e44 104
Jellehierck 35:e82834e62e44 105 /*
Jellehierck 37:806c7c8381a7 106 ------------------------------ HELPER FUNCTIONS ------------------------------
Jellehierck 37:806c7c8381a7 107 */
Jellehierck 38:8b597ab8344f 108 // Empty placeholder function, needs to be deleted at end of project
Jellehierck 38:8b597ab8344f 109 void doStuff() {}
Jellehierck 38:8b597ab8344f 110
Jellehierck 38:8b597ab8344f 111 // Return max value of vector
Jellehierck 38:8b597ab8344f 112 double getMax(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 113 {
Jellehierck 38:8b597ab8344f 114 double curr_max = 0.0;
Jellehierck 38:8b597ab8344f 115 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 116 for (int i = 0; i < vect_n; i++) {
Jellehierck 38:8b597ab8344f 117 if (vect[i] > curr_max) {
Jellehierck 38:8b597ab8344f 118 curr_max = vect[i];
Jellehierck 38:8b597ab8344f 119 };
Jellehierck 38:8b597ab8344f 120 }
Jellehierck 38:8b597ab8344f 121 return curr_max;
Jellehierck 38:8b597ab8344f 122 }
Jellehierck 37:806c7c8381a7 123
Jellehierck 38:8b597ab8344f 124 // Return mean of vector
Jellehierck 38:8b597ab8344f 125 double getMean(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 126 {
Jellehierck 38:8b597ab8344f 127 double sum = 0.0;
Jellehierck 38:8b597ab8344f 128 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 129 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 130 sum += vect[i];
Jellehierck 38:8b597ab8344f 131 }
Jellehierck 38:8b597ab8344f 132 return sum/vect_n;
Jellehierck 38:8b597ab8344f 133 }
Jellehierck 37:806c7c8381a7 134
Jellehierck 38:8b597ab8344f 135 // Return standard deviation of vector
Jellehierck 38:8b597ab8344f 136 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 38:8b597ab8344f 137 {
Jellehierck 38:8b597ab8344f 138 double sum2 = 0.0;
Jellehierck 38:8b597ab8344f 139 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 140 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 141 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 38:8b597ab8344f 142 }
Jellehierck 38:8b597ab8344f 143 double output = sqrt( sum2 / vect_n );
Jellehierck 38:8b597ab8344f 144 return output;
Jellehierck 38:8b597ab8344f 145 }
Jellehierck 38:8b597ab8344f 146
Jellehierck 38:8b597ab8344f 147 // Rescale double values to certain range
Jellehierck 38:8b597ab8344f 148 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 38:8b597ab8344f 149 {
Jellehierck 38:8b597ab8344f 150 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 38:8b597ab8344f 151 return output;
Jellehierck 38:8b597ab8344f 152 }
Jellehierck 37:806c7c8381a7 153
Jellehierck 37:806c7c8381a7 154 /*
Jellehierck 37:806c7c8381a7 155 ------------------------------ BUTTON FUNCTIONS ------------------------------
Jellehierck 35:e82834e62e44 156 */
Jellehierck 35:e82834e62e44 157
Jellehierck 25:a1be4cf2ab0b 158 // Handle button press
Jellehierck 25:a1be4cf2ab0b 159 void button1Press()
Jellehierck 25:a1be4cf2ab0b 160 {
Jellehierck 25:a1be4cf2ab0b 161 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 162 }
Jellehierck 25:a1be4cf2ab0b 163
Jellehierck 25:a1be4cf2ab0b 164 // Handle button press
Jellehierck 25:a1be4cf2ab0b 165 void button2Press()
Jellehierck 25:a1be4cf2ab0b 166 {
Jellehierck 25:a1be4cf2ab0b 167 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 168 }
Jellehierck 25:a1be4cf2ab0b 169
Jellehierck 37:806c7c8381a7 170 void switch2Press()
Jellehierck 6:5437cc97e1e6 171 {
Jellehierck 37:806c7c8381a7 172 switch2_pressed = true;
Jellehierck 35:e82834e62e44 173 }
Jellehierck 6:5437cc97e1e6 174
Jellehierck 37:806c7c8381a7 175 void switch3Press()
Jellehierck 35:e82834e62e44 176 {
Jellehierck 37:806c7c8381a7 177 global_curr_state = global_failure;
Jellehierck 37:806c7c8381a7 178 global_state_changed = true;
Jellehierck 6:5437cc97e1e6 179 }
Jellehierck 6:5437cc97e1e6 180
Jellehierck 15:421d3d9c563b 181 /*
Jellehierck 38:8b597ab8344f 182 ------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 38:8b597ab8344f 183 */
Jellehierck 38:8b597ab8344f 184
Jellehierck 38:8b597ab8344f 185 // Set global constant values for EMG reading & analysis
Jellehierck 41:8e8141f355af 186 const double Tcal = 7.5f; // Calibration duration (s)
Jellehierck 38:8b597ab8344f 187
Jellehierck 38:8b597ab8344f 188 // Initialize variables for EMG reading & analysis
Jellehierck 38:8b597ab8344f 189 double emg1;
Jellehierck 38:8b597ab8344f 190 double emg1_env;
Jellehierck 38:8b597ab8344f 191 double emg1_MVC;
Jellehierck 38:8b597ab8344f 192 double emg1_rest;
Jellehierck 38:8b597ab8344f 193 double emg1_factor;//delete
Jellehierck 38:8b597ab8344f 194 double emg1_th;
Jellehierck 38:8b597ab8344f 195 double emg1_out;
Jellehierck 38:8b597ab8344f 196 double emg1_norm; //delete
Jellehierck 38:8b597ab8344f 197 vector<double> emg1_cal;
Jellehierck 38:8b597ab8344f 198 int emg1_cal_size; //delete
Jellehierck 41:8e8141f355af 199 double emg1_dir = 1.0;
Jellehierck 38:8b597ab8344f 200 double emg1_out_prev;
Jellehierck 38:8b597ab8344f 201 double emg1_dt; //delete
Jellehierck 38:8b597ab8344f 202 double emg1_dt_prev;
Jellehierck 38:8b597ab8344f 203 double emg1_dtdt; //delete
Jellehierck 38:8b597ab8344f 204
Jellehierck 38:8b597ab8344f 205 double emg2;
Jellehierck 38:8b597ab8344f 206 double emg2_env;
Jellehierck 38:8b597ab8344f 207 double emg2_MVC;
Jellehierck 38:8b597ab8344f 208 double emg2_rest;
Jellehierck 38:8b597ab8344f 209 double emg2_factor;//delete
Jellehierck 38:8b597ab8344f 210 double emg2_th;
Jellehierck 38:8b597ab8344f 211 double emg2_out;
Jellehierck 38:8b597ab8344f 212 double emg2_norm;//delete
Jellehierck 38:8b597ab8344f 213 vector<double> emg2_cal;
Jellehierck 38:8b597ab8344f 214 int emg2_cal_size;//delete
Jellehierck 41:8e8141f355af 215 double emg2_dir = 1.0;
Jellehierck 38:8b597ab8344f 216
Jellehierck 38:8b597ab8344f 217 double emg3;
Jellehierck 38:8b597ab8344f 218 double emg3_env;
Jellehierck 38:8b597ab8344f 219 double emg3_MVC;
Jellehierck 38:8b597ab8344f 220 double emg3_rest;
Jellehierck 38:8b597ab8344f 221 double emg3_factor;//delete
Jellehierck 38:8b597ab8344f 222 double emg3_th;
Jellehierck 38:8b597ab8344f 223 double emg3_out;
Jellehierck 38:8b597ab8344f 224 double emg3_norm;//delete
Jellehierck 38:8b597ab8344f 225 vector<double> emg3_cal;
Jellehierck 38:8b597ab8344f 226 int emg3_cal_size;//delete
Jellehierck 38:8b597ab8344f 227 int emg3_dir = 1;
Jellehierck 38:8b597ab8344f 228
Jellehierck 38:8b597ab8344f 229 /*
Jellehierck 38:8b597ab8344f 230 ------------------------------ EMG FILTERS ------------------------------
Jellehierck 38:8b597ab8344f 231 */
Jellehierck 38:8b597ab8344f 232
Jellehierck 38:8b597ab8344f 233 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 38:8b597ab8344f 234 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 235 BiQuad bq2_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 236 BiQuad bq3_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 237 BiQuadChain bqc1_notch;
Jellehierck 38:8b597ab8344f 238 BiQuadChain bqc2_notch;
Jellehierck 38:8b597ab8344f 239 BiQuadChain bqc3_notch;
Jellehierck 38:8b597ab8344f 240
Jellehierck 38:8b597ab8344f 241 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 38:8b597ab8344f 242 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 243 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 244 BiQuad bq2_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 245 BiQuad bq2_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 246 BiQuad bq3_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 247 BiQuad bq3_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 248 BiQuadChain bqc1_high;
Jellehierck 38:8b597ab8344f 249 BiQuadChain bqc2_high;
Jellehierck 38:8b597ab8344f 250 BiQuadChain bqc3_high;
Jellehierck 38:8b597ab8344f 251
Jellehierck 38:8b597ab8344f 252 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 38:8b597ab8344f 253 BiQuad bq1_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 254 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 255 BiQuad bq2_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 256 BiQuad bq2_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 257 BiQuad bq3_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 258 BiQuad bq3_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 259 BiQuadChain bqc1_low;
Jellehierck 38:8b597ab8344f 260 BiQuadChain bqc2_low;
Jellehierck 38:8b597ab8344f 261 BiQuadChain bqc3_low;
Jellehierck 38:8b597ab8344f 262
Jellehierck 38:8b597ab8344f 263 // Function to check filter stability
Jellehierck 38:8b597ab8344f 264 bool checkBQChainStable()
Jellehierck 38:8b597ab8344f 265 {
Jellehierck 38:8b597ab8344f 266 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 38:8b597ab8344f 267 bool hp_stable = bqc1_high.stable();
Jellehierck 38:8b597ab8344f 268 bool l_stable = bqc1_low.stable();
Jellehierck 38:8b597ab8344f 269
Jellehierck 38:8b597ab8344f 270 if (n_stable && hp_stable && l_stable) {
Jellehierck 38:8b597ab8344f 271 return true;
Jellehierck 38:8b597ab8344f 272 } else {
Jellehierck 38:8b597ab8344f 273 return false;
Jellehierck 38:8b597ab8344f 274 }
Jellehierck 38:8b597ab8344f 275 }
Jellehierck 42:2937ad8f1032 276
Jellehierck 42:2937ad8f1032 277 /*
Jellehierck 42:2937ad8f1032 278 ------------------------------ EMG GLOBAL FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 279 */
Jellehierck 42:2937ad8f1032 280
Jellehierck 42:2937ad8f1032 281 void EMGOperationFunc()
Jellehierck 42:2937ad8f1032 282 {
Jellehierck 42:2937ad8f1032 283 emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor
Jellehierck 42:2937ad8f1032 284 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 42:2937ad8f1032 285 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 42:2937ad8f1032 286
Jellehierck 42:2937ad8f1032 287 emg1_out_prev = emg1_out; // Set previous emg_out signal
Jellehierck 42:2937ad8f1032 288 emg1_dt_prev = emg1_dt; // Set previous emg_out_dt signal
Jellehierck 42:2937ad8f1032 289
Jellehierck 42:2937ad8f1032 290 if (button1_pressed) {
Jellehierck 42:2937ad8f1032 291 button1_pressed = false;
Jellehierck 42:2937ad8f1032 292 emg1_dir = emg1_dir * -1.0;
Jellehierck 42:2937ad8f1032 293 }
Jellehierck 42:2937ad8f1032 294
Jellehierck 42:2937ad8f1032 295 if (button2_pressed) {
Jellehierck 42:2937ad8f1032 296 button2_pressed = false;
Jellehierck 42:2937ad8f1032 297 emg2_dir = emg2_dir * -1.0;
Jellehierck 42:2937ad8f1032 298 }
Jellehierck 42:2937ad8f1032 299
Jellehierck 42:2937ad8f1032 300 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 42:2937ad8f1032 301 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 42:2937ad8f1032 302 emg1_out = 0.0;
Jellehierck 42:2937ad8f1032 303 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 42:2937ad8f1032 304 emg1_out = 1.0;
Jellehierck 42:2937ad8f1032 305 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 42:2937ad8f1032 306 // Inputs may be in range [emg_th, 1]
Jellehierck 42:2937ad8f1032 307 // Outputs are scaled to range [0, 1]
Jellehierck 42:2937ad8f1032 308 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 42:2937ad8f1032 309 }
Jellehierck 42:2937ad8f1032 310 emg1_dt = (emg1_out - emg1_out_prev) / Ts; // Calculate derivative of filtered normalized output signal
Jellehierck 42:2937ad8f1032 311 emg1_dtdt = (emg1_dt - emg1_dt_prev) / Ts; // Calculate acceleration of filtered normalized output signal
Jellehierck 42:2937ad8f1032 312
Jellehierck 42:2937ad8f1032 313 // Idem for emg2
Jellehierck 42:2937ad8f1032 314 if ( emg2_norm < emg2_th ) {
Jellehierck 42:2937ad8f1032 315 emg2_out = 0.0;
Jellehierck 42:2937ad8f1032 316 } else if ( emg2_norm > 1.0f ) {
Jellehierck 42:2937ad8f1032 317 emg2_out = 1.0;
Jellehierck 42:2937ad8f1032 318 } else {
Jellehierck 42:2937ad8f1032 319 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 42:2937ad8f1032 320 }
Jellehierck 42:2937ad8f1032 321
Jellehierck 42:2937ad8f1032 322 // Idem for emg3
Jellehierck 42:2937ad8f1032 323 if ( emg3_norm < emg3_th ) {
Jellehierck 42:2937ad8f1032 324 emg3_out = 0.0;
Jellehierck 42:2937ad8f1032 325 } else if ( emg3_norm > 1.0f ) {
Jellehierck 42:2937ad8f1032 326 emg3_out = 1.0;
Jellehierck 42:2937ad8f1032 327 } else {
Jellehierck 42:2937ad8f1032 328 emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
Jellehierck 42:2937ad8f1032 329 }
Jellehierck 42:2937ad8f1032 330 }
Jellehierck 38:8b597ab8344f 331 /*
Jellehierck 38:8b597ab8344f 332 ------------------------------ EMG SUBSTATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 333 */
Jellehierck 38:8b597ab8344f 334
Jellehierck 38:8b597ab8344f 335 // EMG Waiting state
Jellehierck 38:8b597ab8344f 336 void do_emg_wait()
Jellehierck 38:8b597ab8344f 337 {
Jellehierck 38:8b597ab8344f 338 // Entry function
Jellehierck 38:8b597ab8344f 339 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 340 emg_state_changed = false; // Disable entry functions
Jellehierck 38:8b597ab8344f 341
Jellehierck 38:8b597ab8344f 342 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 38:8b597ab8344f 343 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 38:8b597ab8344f 344 }
Jellehierck 38:8b597ab8344f 345
Jellehierck 38:8b597ab8344f 346 // Do nothing until end condition is met
Jellehierck 38:8b597ab8344f 347
Jellehierck 38:8b597ab8344f 348 // State transition guard
Jellehierck 38:8b597ab8344f 349 if ( button1_pressed ) { // MVC calibration
Jellehierck 38:8b597ab8344f 350 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 351 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 352 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 353 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 38:8b597ab8344f 354 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 355
Jellehierck 38:8b597ab8344f 356 } else if ( button2_pressed ) { // Rest calibration
Jellehierck 38:8b597ab8344f 357 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 358 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 359 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 360 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 38:8b597ab8344f 361 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 362
Jellehierck 38:8b597ab8344f 363 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { // Operation mode
Jellehierck 38:8b597ab8344f 364 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 365 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 366 emg_curr_state = emg_operation; // Set next state
Jellehierck 38:8b597ab8344f 367 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 368 }
Jellehierck 38:8b597ab8344f 369 }
Jellehierck 38:8b597ab8344f 370
Jellehierck 38:8b597ab8344f 371 // EMG Calibration state
Jellehierck 38:8b597ab8344f 372 void do_emg_cal()
Jellehierck 38:8b597ab8344f 373 {
Jellehierck 38:8b597ab8344f 374 // Entry functions
Jellehierck 38:8b597ab8344f 375 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 376 emg_state_changed = false; // Disable entry functions
Jellehierck 38:8b597ab8344f 377 led_b = 0; // Turn on calibration led
Jellehierck 38:8b597ab8344f 378
Jellehierck 38:8b597ab8344f 379 timerCalibration.reset();
Jellehierck 38:8b597ab8344f 380 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 38:8b597ab8344f 381 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 382 emg_calibrateNow = true; // Enable calibration vector functionality in sampleSignals()
Jellehierck 38:8b597ab8344f 383
Jellehierck 38:8b597ab8344f 384 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 38:8b597ab8344f 385 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 386 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 387 }
Jellehierck 38:8b597ab8344f 388
Jellehierck 38:8b597ab8344f 389 // Do stuff until end condition is met
Jellehierck 38:8b597ab8344f 390 // Set HIDScope outputs
Jellehierck 38:8b597ab8344f 391 scope.set(0, emg1 );
Jellehierck 38:8b597ab8344f 392 scope.set(1, emg1_env );
Jellehierck 41:8e8141f355af 393 scope.set(2, emg2 );
Jellehierck 41:8e8141f355af 394 scope.set(3, emg2_env );
Jellehierck 38:8b597ab8344f 395 //scope.set(2, emg2_env );
Jellehierck 38:8b597ab8344f 396 //scope.set(3, emg3_env );
Jellehierck 38:8b597ab8344f 397 scope.send();
Jellehierck 38:8b597ab8344f 398
Jellehierck 38:8b597ab8344f 399 // State transition guard
Jellehierck 38:8b597ab8344f 400 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 38:8b597ab8344f 401 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 402 emg_calibrateNow = false; // Disable calibration sampling
Jellehierck 38:8b597ab8344f 403 led_b = 1; // Turn off calibration led
Jellehierck 38:8b597ab8344f 404
Jellehierck 38:8b597ab8344f 405 // Extract EMG scale data from calibration
Jellehierck 38:8b597ab8344f 406 switch( emg_curr_state ) {
Jellehierck 39:f9042483b921 407 case emg_cal_MVC: // In case of MVC calibration
Jellehierck 38:8b597ab8344f 408 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 38:8b597ab8344f 409 emg2_MVC = getMax(emg2_cal);
Jellehierck 38:8b597ab8344f 410 emg3_MVC = getMax(emg3_cal);
Jellehierck 38:8b597ab8344f 411
Jellehierck 38:8b597ab8344f 412 emg_MVC_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 413 break;
Jellehierck 39:f9042483b921 414 case emg_cal_rest: // In case of rest calibration
Jellehierck 38:8b597ab8344f 415 emg1_rest = getMean(emg1_cal); // Store mean of EMG in rest globally
Jellehierck 38:8b597ab8344f 416 emg2_rest = getMean(emg2_cal);
Jellehierck 38:8b597ab8344f 417 emg3_rest = getMean(emg3_cal);
Jellehierck 38:8b597ab8344f 418 emg_rest_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 419 break;
Jellehierck 38:8b597ab8344f 420 }
Jellehierck 38:8b597ab8344f 421 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 38:8b597ab8344f 422 vector<double>().swap(emg2_cal);
Jellehierck 38:8b597ab8344f 423 vector<double>().swap(emg3_cal);
Jellehierck 38:8b597ab8344f 424
Jellehierck 38:8b597ab8344f 425 emg_curr_state = emg_wait; // Set next substate
Jellehierck 38:8b597ab8344f 426 emg_state_changed = true; // Enable substate entry function
Jellehierck 38:8b597ab8344f 427 }
Jellehierck 38:8b597ab8344f 428 }
Jellehierck 38:8b597ab8344f 429
Jellehierck 38:8b597ab8344f 430 // EMG Operation state
Jellehierck 38:8b597ab8344f 431 void do_emg_operation()
Jellehierck 38:8b597ab8344f 432 {
Jellehierck 38:8b597ab8344f 433 // Entry function
Jellehierck 38:8b597ab8344f 434 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 435 emg_state_changed = false; // Disable entry functions
Jellehierck 40:c6dffb676350 436
Jellehierck 39:f9042483b921 437 // Compute scale factors for all EMG signals
Jellehierck 38:8b597ab8344f 438 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 38:8b597ab8344f 439 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 440 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 441 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 442 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 443 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 444 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 445
Jellehierck 38:8b597ab8344f 446
Jellehierck 38:8b597ab8344f 447 // ------- TO DO: MAKE SURE THESE BUTTONS DO NOT BOUNCE (e.g. with button1.rise() ) ------
Jellehierck 38:8b597ab8344f 448 //button1.fall( &toggleEMG1Dir ); // Change to state MVC calibration on button1 press
Jellehierck 38:8b597ab8344f 449 //button2.fall( &toggleEMG2Dir ); // Change to state rest calibration on button2 press
Jellehierck 38:8b597ab8344f 450
Jellehierck 38:8b597ab8344f 451 }
Jellehierck 40:c6dffb676350 452
Jellehierck 39:f9042483b921 453 // This state only runs its entry functions ONCE and then exits the EMG substate machine
Jellehierck 38:8b597ab8344f 454
Jellehierck 38:8b597ab8344f 455 // State transition guard
Jellehierck 41:8e8141f355af 456 if ( true ) { // EMG substate machine is terminated directly after running this state once
Jellehierck 38:8b597ab8344f 457 emg_curr_state = emg_wait; // Set next state
Jellehierck 38:8b597ab8344f 458 emg_state_changed = true; // Enable entry function
Jellehierck 41:8e8141f355af 459 emg_cal_done = true; // Let the global substate machine know that EMG calibration is finished
Jellehierck 42:2937ad8f1032 460
Jellehierck 41:8e8141f355af 461 // Enable buttons again
Jellehierck 41:8e8141f355af 462 button1.fall( &button1Press );
Jellehierck 41:8e8141f355af 463 button2.fall( &button2Press );
Jellehierck 38:8b597ab8344f 464 }
Jellehierck 38:8b597ab8344f 465 }
Jellehierck 38:8b597ab8344f 466
Jellehierck 42:2937ad8f1032 467
Jellehierck 42:2937ad8f1032 468
Jellehierck 42:2937ad8f1032 469 /*
Jellehierck 42:2937ad8f1032 470 ------------------------------ MOTOR GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 42:2937ad8f1032 471 */
Jellehierck 42:2937ad8f1032 472 // Initialize encoder
Jellehierck 42:2937ad8f1032 473 int encoder_res = 64;
Jellehierck 42:2937ad8f1032 474
Jellehierck 42:2937ad8f1032 475 QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1
Jellehierck 42:2937ad8f1032 476 QEI encoder2(D13, D12, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2
Jellehierck 42:2937ad8f1032 477
Jellehierck 42:2937ad8f1032 478 // Initialize variables for encoder reading
Jellehierck 42:2937ad8f1032 479 volatile int counts1;
Jellehierck 42:2937ad8f1032 480 volatile int counts1af;
Jellehierck 42:2937ad8f1032 481 int counts1offset;
Jellehierck 42:2937ad8f1032 482 volatile int countsPrev1 = 0;
Jellehierck 42:2937ad8f1032 483 volatile int deltaCounts1;
Jellehierck 42:2937ad8f1032 484
Jellehierck 42:2937ad8f1032 485 volatile int counts2;
Jellehierck 42:2937ad8f1032 486 volatile int counts2af;
Jellehierck 42:2937ad8f1032 487 int counts2offset;
Jellehierck 42:2937ad8f1032 488 volatile int countsPrev2 = 0;
Jellehierck 42:2937ad8f1032 489 volatile int deltaCounts2;
Jellehierck 42:2937ad8f1032 490
Jellehierck 42:2937ad8f1032 491 // PWM period
Jellehierck 42:2937ad8f1032 492 const float PWM_period = 1/(18*10e3); // 18000 Hz
Jellehierck 42:2937ad8f1032 493
Jellehierck 42:2937ad8f1032 494 // Important constants
Jellehierck 42:2937ad8f1032 495 const double pi = 3.1415926535897; // pi
Jellehierck 42:2937ad8f1032 496 const double pi2 = pi * 2; // 2 pi
Jellehierck 42:2937ad8f1032 497 const double deg2rad = pi / 180; //Conversion factor degree to rad
Jellehierck 42:2937ad8f1032 498 const double rad2deg = 180 / pi; //Conversion factor rad to degree
Jellehierck 42:2937ad8f1032 499 const double gearratio1 = 110 / 20; // Teeth of large gear : teeth of driven gear
Jellehierck 42:2937ad8f1032 500 const double gearratio2 = 55 / 20; // Teeth of small gear : teeth of driven gear
Jellehierck 42:2937ad8f1032 501 const double encoder_factorin = pi2 / encoder_res; // Convert encoder counts to angle in rad
Jellehierck 42:2937ad8f1032 502 const float gearbox_ratio = 131.25; // Gear ratio of motor gearboxes
Jellehierck 42:2937ad8f1032 503
Jellehierck 42:2937ad8f1032 504 // Kinematics variables
Jellehierck 42:2937ad8f1032 505 const float l1 = 26.0; // Distance base-joint2 [cm]
Jellehierck 42:2937ad8f1032 506 const float l2 = 62.0; // Distance join2-endpoint [cm]
Jellehierck 42:2937ad8f1032 507
Jellehierck 42:2937ad8f1032 508 float q1 = -10.0 * deg2rad; // Angle of first joint [rad] (starts off in reference position)
Jellehierck 42:2937ad8f1032 509 float q1dot; // Velocity of first joint [rad/s]
Jellehierck 42:2937ad8f1032 510
Jellehierck 42:2937ad8f1032 511 float q2 = -140.0 * deg2rad;
Jellehierck 42:2937ad8f1032 512 float q2dot;
Jellehierck 42:2937ad8f1032 513
Jellehierck 42:2937ad8f1032 514 float Vx = 0.0; // Desired linear velocity x direction
Jellehierck 42:2937ad8f1032 515 float Vy = 0.0; // Desired linear velocity y direction
Jellehierck 42:2937ad8f1032 516
Jellehierck 42:2937ad8f1032 517 float xe; // Endpoint x position [cm]
Jellehierck 42:2937ad8f1032 518 float ye; // Endpoint y position [cm]
Jellehierck 42:2937ad8f1032 519
Jellehierck 42:2937ad8f1032 520 // Motor angles in starting position
Jellehierck 42:2937ad8f1032 521 const float motor1_init = q1 * gearratio1; // Measured angle motor 1 in initial (starting) position
Jellehierck 42:2937ad8f1032 522 float motor1_ref = motor1_init; // Expected motor angle
Jellehierck 42:2937ad8f1032 523 float motor1_angle = motor1_init; // Actual motor angle
Jellehierck 42:2937ad8f1032 524
Jellehierck 42:2937ad8f1032 525 const float motor2_init = q2 * gearratio2; // Measured angle motor 2 in initial (starting) position
Jellehierck 42:2937ad8f1032 526 float motor2_ref = motor2_init;
Jellehierck 42:2937ad8f1032 527 float motor2_angle = motor2_init;
Jellehierck 42:2937ad8f1032 528
Jellehierck 42:2937ad8f1032 529 // Initialize variables for motor control
Jellehierck 42:2937ad8f1032 530 float motor1offset; // Offset during calibration
Jellehierck 42:2937ad8f1032 531 float omega1; //velocity (rad/s)
Jellehierck 42:2937ad8f1032 532 bool motordir1; // Toggle of motor direction
Jellehierck 42:2937ad8f1032 533 double controlsignal1; // ??
Jellehierck 42:2937ad8f1032 534 float motor1_error; // Error between encoder and reference
Jellehierck 42:2937ad8f1032 535
Jellehierck 42:2937ad8f1032 536 float motor2offset;
Jellehierck 42:2937ad8f1032 537 float omega2;
Jellehierck 42:2937ad8f1032 538 bool motordir2;
Jellehierck 42:2937ad8f1032 539 double controlsignal2;
Jellehierck 42:2937ad8f1032 540 float motor2error;
Jellehierck 42:2937ad8f1032 541
Jellehierck 42:2937ad8f1032 542 // Initialize variables for PID controller
Jellehierck 42:2937ad8f1032 543 float Kp = 0.27; // Proportional gain
Jellehierck 42:2937ad8f1032 544 float Ki = 0.35; // Integral gain
Jellehierck 42:2937ad8f1032 545 float Kd = 0.1; // Derivative gain
Jellehierck 42:2937ad8f1032 546 float Ka = 1.0;
Jellehierck 42:2937ad8f1032 547
Jellehierck 42:2937ad8f1032 548 float u_p1; //
Jellehierck 42:2937ad8f1032 549 float u_i1; //
Jellehierck 42:2937ad8f1032 550 float ux1; //
Jellehierck 42:2937ad8f1032 551 float up1; // Proportional contribution
Jellehierck 42:2937ad8f1032 552 float ek1; //
Jellehierck 42:2937ad8f1032 553 float ei1 = 0.0; // Integral error (starts at 0)
Jellehierck 42:2937ad8f1032 554
Jellehierck 42:2937ad8f1032 555 float u_p2;
Jellehierck 42:2937ad8f1032 556 float u_i2;
Jellehierck 42:2937ad8f1032 557 float ux2;
Jellehierck 42:2937ad8f1032 558 float up2;
Jellehierck 42:2937ad8f1032 559 float ek2;
Jellehierck 42:2937ad8f1032 560 float ei2 = 0.0;
Jellehierck 42:2937ad8f1032 561
Jellehierck 42:2937ad8f1032 562 /*
Jellehierck 42:2937ad8f1032 563 ------------------------------ MOTOR FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 564 */
Jellehierck 42:2937ad8f1032 565 void PID_controller()
Jellehierck 42:2937ad8f1032 566 {
Jellehierck 42:2937ad8f1032 567 // Motor 1
Jellehierck 42:2937ad8f1032 568 static float error_integral1 = 0;
Jellehierck 42:2937ad8f1032 569 static float e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 570
Jellehierck 42:2937ad8f1032 571 //Proportional part
Jellehierck 42:2937ad8f1032 572 u_p1 = Kp * motor1_error;
Jellehierck 42:2937ad8f1032 573
Jellehierck 42:2937ad8f1032 574 //Integral part
Jellehierck 42:2937ad8f1032 575 error_integral1 = error_integral1 + ei1 * Ts;
Jellehierck 42:2937ad8f1032 576 u_i1 = Ki * error_integral1;
Jellehierck 42:2937ad8f1032 577
Jellehierck 42:2937ad8f1032 578 //Derivative part
Jellehierck 42:2937ad8f1032 579 float error_derivative1 = (motor1_error - e_prev1) / Ts;
Jellehierck 42:2937ad8f1032 580 float u_d1 = Kd * error_derivative1;
Jellehierck 42:2937ad8f1032 581 e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 582
Jellehierck 42:2937ad8f1032 583 // Sum and limit
Jellehierck 42:2937ad8f1032 584 up1 = u_p1 + u_i1 + u_d1;
Jellehierck 42:2937ad8f1032 585 if ( up1 > 1 ) {
Jellehierck 42:2937ad8f1032 586 controlsignal1 = 1;
Jellehierck 42:2937ad8f1032 587 } else if ( up1 < -1 ) {
Jellehierck 42:2937ad8f1032 588 controlsignal1 = -1;
Jellehierck 42:2937ad8f1032 589 } else {
Jellehierck 42:2937ad8f1032 590 controlsignal1 = up1;
Jellehierck 42:2937ad8f1032 591 }
Jellehierck 42:2937ad8f1032 592
Jellehierck 42:2937ad8f1032 593 // To prevent windup
Jellehierck 42:2937ad8f1032 594 ux1 = up1 - controlsignal1;
Jellehierck 42:2937ad8f1032 595 ek1 = Ka * ux1;
Jellehierck 42:2937ad8f1032 596 ei1 = motor1_error - ek1;
Jellehierck 42:2937ad8f1032 597
Jellehierck 42:2937ad8f1032 598 // Motor 2
Jellehierck 42:2937ad8f1032 599 static float error_integral2 = 0;
Jellehierck 42:2937ad8f1032 600 static float e_prev2 = motor2error;
Jellehierck 42:2937ad8f1032 601
Jellehierck 42:2937ad8f1032 602 //Proportional part:
Jellehierck 42:2937ad8f1032 603 u_p2 = Kp * motor2error;
Jellehierck 42:2937ad8f1032 604
Jellehierck 42:2937ad8f1032 605 //Integral part
Jellehierck 42:2937ad8f1032 606 error_integral2 = error_integral2 + ei2 * Ts;
Jellehierck 42:2937ad8f1032 607 u_i2 = Ki * error_integral2;
Jellehierck 42:2937ad8f1032 608
Jellehierck 42:2937ad8f1032 609 //Derivative part
Jellehierck 42:2937ad8f1032 610 float error_derivative2 = (motor2error - e_prev2) / Ts;
Jellehierck 42:2937ad8f1032 611 float u_d2 = Kd * error_derivative2;
Jellehierck 42:2937ad8f1032 612 e_prev2 = motor2error;
Jellehierck 42:2937ad8f1032 613
Jellehierck 42:2937ad8f1032 614 // Sum and limit
Jellehierck 42:2937ad8f1032 615 up2 = u_p2 + u_i2 + u_d2;
Jellehierck 42:2937ad8f1032 616 if ( up2 > 1.0f ) {
Jellehierck 42:2937ad8f1032 617 controlsignal2 = 1.0f;
Jellehierck 42:2937ad8f1032 618 } else if ( up2 < -1 ) {
Jellehierck 42:2937ad8f1032 619 controlsignal2 = -1.0f;
Jellehierck 42:2937ad8f1032 620 } else {
Jellehierck 42:2937ad8f1032 621 controlsignal2 = up2;
Jellehierck 42:2937ad8f1032 622 }
Jellehierck 42:2937ad8f1032 623
Jellehierck 42:2937ad8f1032 624 // To prevent windup
Jellehierck 42:2937ad8f1032 625 ux2 = up2 - controlsignal2;
Jellehierck 42:2937ad8f1032 626 ek2 = Ka * ux2;
Jellehierck 42:2937ad8f1032 627 ei2 = motor2error - ek2;
Jellehierck 42:2937ad8f1032 628 }
Jellehierck 42:2937ad8f1032 629
Jellehierck 42:2937ad8f1032 630 void RKI()
Jellehierck 42:2937ad8f1032 631 {
Jellehierck 42:2937ad8f1032 632 // Derived function for angular velocity of joint angles
Jellehierck 42:2937ad8f1032 633 q1dot = (l2*cos(q1+q2)*Vx+l2*sin(q1+q2)*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2)));
Jellehierck 42:2937ad8f1032 634 q2dot = ((-l1*cos(q1)-l2*cos(q1+q2))*Vx+(-l1*sin(q1)-l2*sin(q1+q2))*Vy)/((-l1*sin(q1)-l2*sin(q1+q2))*l2*cos(q1+q2)+l2*sin(q1+q2)*(l1*cos(q1)+l2*cos(q1+q2)));
Jellehierck 42:2937ad8f1032 635 q1 = q1 + q1dot * Ts;
Jellehierck 42:2937ad8f1032 636 q2 = q2 + q2dot * Ts;
Jellehierck 42:2937ad8f1032 637
Jellehierck 42:2937ad8f1032 638 xe = l1 * cos(q1) + l2 * cos(q1+q2);
Jellehierck 42:2937ad8f1032 639 ye = l1 * sin(q1) + l2 * sin(q1+q2);
Jellehierck 42:2937ad8f1032 640
Jellehierck 42:2937ad8f1032 641 if ( q1 < -5.0f ) {
Jellehierck 42:2937ad8f1032 642 q1 = -5.0;
Jellehierck 42:2937ad8f1032 643 } else if ( q1 > 65.0f*deg2rad ) {
Jellehierck 42:2937ad8f1032 644 q1 = 65.0f * deg2rad;
Jellehierck 42:2937ad8f1032 645 } else {
Jellehierck 42:2937ad8f1032 646 q1 = q1;
Jellehierck 42:2937ad8f1032 647 }
Jellehierck 42:2937ad8f1032 648
Jellehierck 42:2937ad8f1032 649 if ( q2 > -50.0*deg2rad ) {
Jellehierck 42:2937ad8f1032 650 q2 = -50.0 * deg2rad;
Jellehierck 42:2937ad8f1032 651 } else if ( q2 < -138.0*deg2rad ) {
Jellehierck 42:2937ad8f1032 652 q2 = -138.0 * deg2rad;
Jellehierck 42:2937ad8f1032 653 } else {
Jellehierck 42:2937ad8f1032 654 q2 = q2;
Jellehierck 42:2937ad8f1032 655 }
Jellehierck 42:2937ad8f1032 656
Jellehierck 42:2937ad8f1032 657 motor1_ref = 5.5f * q1 + 5.5f * q2;
Jellehierck 42:2937ad8f1032 658 motor2_ref = 2.75f * q1;
Jellehierck 42:2937ad8f1032 659 }
Jellehierck 42:2937ad8f1032 660
Jellehierck 42:2937ad8f1032 661 void motorControl()
Jellehierck 42:2937ad8f1032 662 {
Jellehierck 42:2937ad8f1032 663 counts1 = counts1af - counts1offset;
Jellehierck 42:2937ad8f1032 664 motor1_angle = (counts1 * encoder_factorin / gearbox_ratio) + (motor1_init + motor2_init); // Angle of motor shaft in rad + correctie voor q1 en q2
Jellehierck 42:2937ad8f1032 665 omega1 = deltaCounts1 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
Jellehierck 42:2937ad8f1032 666 motor1_error = motor1_ref - motor1_angle;
Jellehierck 42:2937ad8f1032 667 if ( controlsignal1 < 0 ) {
Jellehierck 42:2937ad8f1032 668 motordir1 = 0;
Jellehierck 42:2937ad8f1032 669 } else {
Jellehierck 42:2937ad8f1032 670 motordir1 = 1;
Jellehierck 42:2937ad8f1032 671 }
Jellehierck 42:2937ad8f1032 672
Jellehierck 42:2937ad8f1032 673 motor1Power.write(abs(controlsignal1));
Jellehierck 42:2937ad8f1032 674 motor1Direction = motordir1;
Jellehierck 42:2937ad8f1032 675
Jellehierck 42:2937ad8f1032 676 counts2 = counts2af - counts2offset;
Jellehierck 42:2937ad8f1032 677 motor2_angle = (counts2 * encoder_factorin / gearbox_ratio) + motor1_init; // Angle of motor shaft in rad + correctie voor q1
Jellehierck 42:2937ad8f1032 678 omega2 = deltaCounts2 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
Jellehierck 42:2937ad8f1032 679 motor2error = motor2_ref-motor2_angle;
Jellehierck 42:2937ad8f1032 680 if ( controlsignal2 < 0 ) {
Jellehierck 42:2937ad8f1032 681 motordir2 = 0;
Jellehierck 42:2937ad8f1032 682 } else {
Jellehierck 42:2937ad8f1032 683 motordir2 = 1;
Jellehierck 42:2937ad8f1032 684 }
Jellehierck 42:2937ad8f1032 685 if (motor_encoder_cal_done == true) {
Jellehierck 42:2937ad8f1032 686 motor2Power.write(abs(controlsignal2));
Jellehierck 42:2937ad8f1032 687 }
Jellehierck 42:2937ad8f1032 688 motor2Direction = motordir2;
Jellehierck 42:2937ad8f1032 689 }
Jellehierck 42:2937ad8f1032 690
Jellehierck 42:2937ad8f1032 691 void motorKillPower()
Jellehierck 42:2937ad8f1032 692 {
Jellehierck 42:2937ad8f1032 693 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 694 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 695 Vx=0.0f;
Jellehierck 42:2937ad8f1032 696 Vy=0.0f;
Jellehierck 42:2937ad8f1032 697 }
Jellehierck 42:2937ad8f1032 698
Jellehierck 42:2937ad8f1032 699 /*
Jellehierck 42:2937ad8f1032 700 ------------------------------ MOTOR SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 701 */
Jellehierck 42:2937ad8f1032 702
Jellehierck 42:2937ad8f1032 703 void do_motor_wait()
Jellehierck 42:2937ad8f1032 704 {
Jellehierck 42:2937ad8f1032 705 // Entry function
Jellehierck 42:2937ad8f1032 706 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 707 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 708 }
Jellehierck 42:2937ad8f1032 709
Jellehierck 42:2937ad8f1032 710 PID_controller();
Jellehierck 42:2937ad8f1032 711 motorControl();
Jellehierck 42:2937ad8f1032 712
Jellehierck 42:2937ad8f1032 713 // State transition guard
Jellehierck 42:2937ad8f1032 714 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 715 button2_pressed = false;
Jellehierck 42:2937ad8f1032 716 motor_curr_state = motor_encoder_set; //Beginnen met calibratie
Jellehierck 42:2937ad8f1032 717 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 718 }
Jellehierck 42:2937ad8f1032 719 }
Jellehierck 42:2937ad8f1032 720
Jellehierck 42:2937ad8f1032 721 void do_motor_encoder_set()
Jellehierck 42:2937ad8f1032 722 {
Jellehierck 42:2937ad8f1032 723 // Entry function
Jellehierck 42:2937ad8f1032 724 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 725 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 726 // More functions
Jellehierck 42:2937ad8f1032 727 }
Jellehierck 42:2937ad8f1032 728 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 729 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 730 counts1offset = counts1af ;
Jellehierck 42:2937ad8f1032 731 counts2offset = counts2af;
Jellehierck 42:2937ad8f1032 732
Jellehierck 42:2937ad8f1032 733 // State transition guard
Jellehierck 42:2937ad8f1032 734 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 735 button2_pressed = false;
Jellehierck 42:2937ad8f1032 736 motor_encoder_cal_done = true;
Jellehierck 42:2937ad8f1032 737 motor_curr_state = motor_finish;
Jellehierck 42:2937ad8f1032 738 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 739 }
Jellehierck 42:2937ad8f1032 740 }
Jellehierck 42:2937ad8f1032 741
Jellehierck 42:2937ad8f1032 742 void do_motor_finish()
Jellehierck 42:2937ad8f1032 743 {
Jellehierck 42:2937ad8f1032 744 // Entry function
Jellehierck 42:2937ad8f1032 745 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 746 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 747 }
Jellehierck 42:2937ad8f1032 748
Jellehierck 42:2937ad8f1032 749 // Do stuff until end condition is true
Jellehierck 42:2937ad8f1032 750 PID_controller();
Jellehierck 42:2937ad8f1032 751 motorControl();
Jellehierck 42:2937ad8f1032 752 RKI();
Jellehierck 42:2937ad8f1032 753
Jellehierck 42:2937ad8f1032 754 // State transition guard
Jellehierck 42:2937ad8f1032 755 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 756 button2_pressed = false;
Jellehierck 42:2937ad8f1032 757 motor_cal_done = true;
Jellehierck 42:2937ad8f1032 758 motor_curr_state = motor_wait;
Jellehierck 42:2937ad8f1032 759 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 760 }
Jellehierck 42:2937ad8f1032 761 }
Jellehierck 42:2937ad8f1032 762
Jellehierck 42:2937ad8f1032 763 /*
Jellehierck 42:2937ad8f1032 764 ------------------------------ OPERATION GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 42:2937ad8f1032 765 */
Jellehierck 42:2937ad8f1032 766
Jellehierck 42:2937ad8f1032 767 /*
Jellehierck 42:2937ad8f1032 768 ------------------------------ OPERATION GLOBAL FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 769 */
Jellehierck 42:2937ad8f1032 770 void toggleServo()
Jellehierck 42:2937ad8f1032 771 {
Jellehierck 42:2937ad8f1032 772 if ( operation_showcard == true ) {
Jellehierck 42:2937ad8f1032 773 myServo.SetPosition(2000);
Jellehierck 42:2937ad8f1032 774 operation_showcard = !operation_showcard;
Jellehierck 42:2937ad8f1032 775 }
Jellehierck 42:2937ad8f1032 776
Jellehierck 42:2937ad8f1032 777 else {
Jellehierck 42:2937ad8f1032 778 myServo.SetPosition(1000);
Jellehierck 42:2937ad8f1032 779 operation_showcard = !operation_showcard;
Jellehierck 42:2937ad8f1032 780 }
Jellehierck 42:2937ad8f1032 781 }
Jellehierck 42:2937ad8f1032 782
Jellehierck 42:2937ad8f1032 783
Jellehierck 42:2937ad8f1032 784 /*
Jellehierck 42:2937ad8f1032 785 ------------------------------ OPERATION SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 786 */
Jellehierck 42:2937ad8f1032 787 void do_operation_wait()
Jellehierck 42:2937ad8f1032 788 {
Jellehierck 42:2937ad8f1032 789 // Entry function
Jellehierck 42:2937ad8f1032 790 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 791 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 792 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 793 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 794 }
Jellehierck 42:2937ad8f1032 795
Jellehierck 42:2937ad8f1032 796 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 797 EMGOperationFunc();
Jellehierck 43:1bd5417ded64 798
Jellehierck 43:1bd5417ded64 799 Vx = emg1_out * 15.0f * emg1_dir;
Jellehierck 43:1bd5417ded64 800 Vy = emg2_out * 15.0f * emg2_dir;
Jellehierck 43:1bd5417ded64 801
Jellehierck 43:1bd5417ded64 802 PID_controller();
Jellehierck 43:1bd5417ded64 803 motorControl();
Jellehierck 43:1bd5417ded64 804 RKI();
Jellehierck 43:1bd5417ded64 805
Jellehierck 42:2937ad8f1032 806 motorKillPower(); // Disables motor outputs
Jellehierck 42:2937ad8f1032 807
Jellehierck 42:2937ad8f1032 808 if ( switch2_pressed == true) {
Jellehierck 42:2937ad8f1032 809 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 810 toggleServo();
Jellehierck 42:2937ad8f1032 811 }
Jellehierck 42:2937ad8f1032 812
Jellehierck 42:2937ad8f1032 813 // State transition guard
Jellehierck 42:2937ad8f1032 814 if ( switch2_pressed == true ) {
Jellehierck 42:2937ad8f1032 815 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 816 operation_curr_state = operation_movement;
Jellehierck 42:2937ad8f1032 817 operation_state_changed = true;
Jellehierck 42:2937ad8f1032 818 }
Jellehierck 42:2937ad8f1032 819 }
Jellehierck 42:2937ad8f1032 820
Jellehierck 42:2937ad8f1032 821 void do_operation_movement()
Jellehierck 42:2937ad8f1032 822 {
Jellehierck 42:2937ad8f1032 823 // Entry function
Jellehierck 42:2937ad8f1032 824 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 825 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 826 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 827 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 828 }
Jellehierck 42:2937ad8f1032 829
Jellehierck 42:2937ad8f1032 830 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 831 EMGOperationFunc();
Jellehierck 43:1bd5417ded64 832
Jellehierck 43:1bd5417ded64 833 Vx = emg1_out * 15.0f * emg1_dir;
Jellehierck 43:1bd5417ded64 834 Vy = emg2_out * 15.0f * emg2_dir;
Jellehierck 43:1bd5417ded64 835
Jellehierck 43:1bd5417ded64 836 PID_controller();
Jellehierck 43:1bd5417ded64 837 motorControl();
Jellehierck 43:1bd5417ded64 838 RKI();
Jellehierck 42:2937ad8f1032 839
Jellehierck 42:2937ad8f1032 840 if ( switch2_pressed == true) {
Jellehierck 42:2937ad8f1032 841 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 842 toggleServo();
Jellehierck 42:2937ad8f1032 843 }
Jellehierck 42:2937ad8f1032 844
Jellehierck 42:2937ad8f1032 845 // State transition guard
Jellehierck 42:2937ad8f1032 846 if ( switch2_pressed == true ) {
Jellehierck 42:2937ad8f1032 847 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 848 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 849 operation_state_changed = true;
Jellehierck 42:2937ad8f1032 850 }
Jellehierck 42:2937ad8f1032 851 }
Jellehierck 42:2937ad8f1032 852
Jellehierck 42:2937ad8f1032 853 void do_operation_finish()
Jellehierck 42:2937ad8f1032 854 {
Jellehierck 42:2937ad8f1032 855 // Entry function
Jellehierck 42:2937ad8f1032 856 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 857 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 858 emg_sampleNow = false; // Enable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 859 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 860 }
Jellehierck 42:2937ad8f1032 861
Jellehierck 42:2937ad8f1032 862 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 863 EMGOperationFunc();
Jellehierck 43:1bd5417ded64 864
Jellehierck 43:1bd5417ded64 865 Vx = emg1_out * 15.0f * emg1_dir;
Jellehierck 43:1bd5417ded64 866 Vy = emg2_out * 15.0f * emg2_dir;
Jellehierck 43:1bd5417ded64 867
Jellehierck 43:1bd5417ded64 868 PID_controller();
Jellehierck 43:1bd5417ded64 869 motorControl();
Jellehierck 43:1bd5417ded64 870 RKI();
Jellehierck 42:2937ad8f1032 871
Jellehierck 42:2937ad8f1032 872 // Function to move to starting position
Jellehierck 42:2937ad8f1032 873
Jellehierck 42:2937ad8f1032 874 // State transition guard
Jellehierck 42:2937ad8f1032 875 if ( switch2_pressed == true ) {
Jellehierck 42:2937ad8f1032 876 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 877 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 878 operation_state_changed = true;
Jellehierck 42:2937ad8f1032 879
Jellehierck 42:2937ad8f1032 880 global_curr_state = global_wait;
Jellehierck 42:2937ad8f1032 881 global_state_changed = true;
Jellehierck 42:2937ad8f1032 882 }
Jellehierck 42:2937ad8f1032 883 }
Jellehierck 42:2937ad8f1032 884
Jellehierck 38:8b597ab8344f 885 /*
Jellehierck 38:8b597ab8344f 886 ------------------------------ EMG SUBSTATE MACHINE ------------------------------
Jellehierck 38:8b597ab8344f 887 */
Jellehierck 38:8b597ab8344f 888
Jellehierck 38:8b597ab8344f 889 void emg_state_machine()
Jellehierck 38:8b597ab8344f 890 {
Jellehierck 38:8b597ab8344f 891 switch(emg_curr_state) {
Jellehierck 38:8b597ab8344f 892 case emg_wait:
Jellehierck 38:8b597ab8344f 893 do_emg_wait();
Jellehierck 38:8b597ab8344f 894 break;
Jellehierck 38:8b597ab8344f 895 case emg_cal_MVC:
Jellehierck 38:8b597ab8344f 896 do_emg_cal();
Jellehierck 38:8b597ab8344f 897 break;
Jellehierck 38:8b597ab8344f 898 case emg_cal_rest:
Jellehierck 38:8b597ab8344f 899 do_emg_cal();
Jellehierck 38:8b597ab8344f 900 break;
Jellehierck 38:8b597ab8344f 901 case emg_operation:
Jellehierck 38:8b597ab8344f 902 do_emg_operation();
Jellehierck 38:8b597ab8344f 903 break;
Jellehierck 38:8b597ab8344f 904 }
Jellehierck 38:8b597ab8344f 905 }
Jellehierck 7:7a088536f1c9 906
Jellehierck 15:421d3d9c563b 907 /*
Jellehierck 40:c6dffb676350 908 ------------------------------ MOTOR SUBSTATE MACHINE ------------------------------
Jellehierck 40:c6dffb676350 909 */
Jellehierck 40:c6dffb676350 910
Jellehierck 40:c6dffb676350 911 void motor_state_machine()
Jellehierck 40:c6dffb676350 912 {
Jellehierck 40:c6dffb676350 913 switch(motor_curr_state) {
Jellehierck 40:c6dffb676350 914 case motor_wait:
Jellehierck 40:c6dffb676350 915 do_motor_wait();
Jellehierck 40:c6dffb676350 916 break;
Jellehierck 42:2937ad8f1032 917 case motor_encoder_set:
Jellehierck 42:2937ad8f1032 918 do_motor_encoder_set();
Jellehierck 40:c6dffb676350 919 break;
Jellehierck 40:c6dffb676350 920 case motor_finish:
Jellehierck 40:c6dffb676350 921 do_motor_finish();
Jellehierck 40:c6dffb676350 922 break;
Jellehierck 40:c6dffb676350 923 }
Jellehierck 40:c6dffb676350 924 }
Jellehierck 40:c6dffb676350 925
Jellehierck 40:c6dffb676350 926 /*
Jellehierck 42:2937ad8f1032 927 ------------------------------ OPERATION SUBSTATE MACHINE ------------------------------
Jellehierck 42:2937ad8f1032 928 */
Jellehierck 42:2937ad8f1032 929
Jellehierck 42:2937ad8f1032 930 void operation_state_machine()
Jellehierck 42:2937ad8f1032 931 {
Jellehierck 42:2937ad8f1032 932 switch(operation_curr_state) {
Jellehierck 42:2937ad8f1032 933 case operation_wait:
Jellehierck 42:2937ad8f1032 934 do_operation_wait();
Jellehierck 42:2937ad8f1032 935 break;
Jellehierck 42:2937ad8f1032 936 case operation_movement:
Jellehierck 42:2937ad8f1032 937 do_operation_movement();
Jellehierck 42:2937ad8f1032 938 break;
Jellehierck 42:2937ad8f1032 939 case operation_finish:
Jellehierck 42:2937ad8f1032 940 do_operation_finish();
Jellehierck 42:2937ad8f1032 941 break;
Jellehierck 42:2937ad8f1032 942 }
Jellehierck 42:2937ad8f1032 943 }
Jellehierck 42:2937ad8f1032 944
Jellehierck 42:2937ad8f1032 945 /*
Jellehierck 43:1bd5417ded64 946 ------------------------------ DEMO SUBSTATE FUNCTIONS ------------------------------
Jellehierck 43:1bd5417ded64 947 */
Jellehierck 43:1bd5417ded64 948 void do_demo_wait() {
Jellehierck 43:1bd5417ded64 949 // Entry function
Jellehierck 43:1bd5417ded64 950 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 951 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 952 }
Jellehierck 43:1bd5417ded64 953
Jellehierck 43:1bd5417ded64 954 // Do nothing until end condition is met
Jellehierck 43:1bd5417ded64 955
Jellehierck 43:1bd5417ded64 956 // State transition guard
Jellehierck 43:1bd5417ded64 957 if ( button1_pressed == true ) {
Jellehierck 43:1bd5417ded64 958 button1_pressed = false;
Jellehierck 43:1bd5417ded64 959 demo_curr_state = demo_XY;
Jellehierck 43:1bd5417ded64 960 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 961 // More functions
Jellehierck 43:1bd5417ded64 962 } else if (button2_pressed == true) {
Jellehierck 43:1bd5417ded64 963 button2_pressed = false;
Jellehierck 43:1bd5417ded64 964 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 965 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 966 motor_cal_done = false; // Disables motor calibration again (robot is probably not in reference position)
Jellehierck 43:1bd5417ded64 967 global_curr_state = global_wait;
Jellehierck 43:1bd5417ded64 968 global_state_changed = true;
Jellehierck 43:1bd5417ded64 969 }
Jellehierck 43:1bd5417ded64 970 }
Jellehierck 43:1bd5417ded64 971
Jellehierck 43:1bd5417ded64 972 void do_demo_motor_cal() {
Jellehierck 43:1bd5417ded64 973 // Entry function
Jellehierck 43:1bd5417ded64 974 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 975 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 976 }
Jellehierck 43:1bd5417ded64 977
Jellehierck 43:1bd5417ded64 978 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 979 motor_state_machine();
Jellehierck 43:1bd5417ded64 980
Jellehierck 43:1bd5417ded64 981 // State transition guard
Jellehierck 43:1bd5417ded64 982 if ( motor_cal_done == true ) { // WAIT MODE
Jellehierck 43:1bd5417ded64 983 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 984 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 985 }
Jellehierck 43:1bd5417ded64 986 }
Jellehierck 43:1bd5417ded64 987
Jellehierck 43:1bd5417ded64 988 void do_demo_XY() {
Jellehierck 43:1bd5417ded64 989 // Entry function
Jellehierck 43:1bd5417ded64 990 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 991 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 992 }
Jellehierck 43:1bd5417ded64 993
Jellehierck 43:1bd5417ded64 994 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 995 static float t = 0;
Jellehierck 43:1bd5417ded64 996 Vy = 10.0f * sin(1.0f*t);
Jellehierck 43:1bd5417ded64 997 Vx = 0.0f;
Jellehierck 43:1bd5417ded64 998 t += Ts;
Jellehierck 43:1bd5417ded64 999
Jellehierck 43:1bd5417ded64 1000 PID_controller();
Jellehierck 43:1bd5417ded64 1001 motorControl();
Jellehierck 43:1bd5417ded64 1002 RKI();
Jellehierck 43:1bd5417ded64 1003
Jellehierck 43:1bd5417ded64 1004 // State transition guard
Jellehierck 43:1bd5417ded64 1005 if ( motor_cal_done == true ) { // WAIT MODE
Jellehierck 43:1bd5417ded64 1006 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1007 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1008 }
Jellehierck 43:1bd5417ded64 1009 }
Jellehierck 43:1bd5417ded64 1010
Jellehierck 43:1bd5417ded64 1011 /*
Jellehierck 43:1bd5417ded64 1012 ------------------------------ DEMO SUBSTATE MACHINE ------------------------------
Jellehierck 43:1bd5417ded64 1013 */
Jellehierck 43:1bd5417ded64 1014
Jellehierck 43:1bd5417ded64 1015 void demo_state_machine()
Jellehierck 43:1bd5417ded64 1016 {
Jellehierck 43:1bd5417ded64 1017 switch(demo_curr_state) {
Jellehierck 43:1bd5417ded64 1018 case demo_wait:
Jellehierck 43:1bd5417ded64 1019 do_demo_wait();
Jellehierck 43:1bd5417ded64 1020 break;
Jellehierck 43:1bd5417ded64 1021 case demo_motor_cal:
Jellehierck 43:1bd5417ded64 1022 do_demo_motor_cal();
Jellehierck 43:1bd5417ded64 1023 break;
Jellehierck 43:1bd5417ded64 1024 case demo_XY:
Jellehierck 43:1bd5417ded64 1025 do_demo_XY();
Jellehierck 43:1bd5417ded64 1026 break;
Jellehierck 43:1bd5417ded64 1027 }
Jellehierck 43:1bd5417ded64 1028 }
Jellehierck 43:1bd5417ded64 1029
Jellehierck 43:1bd5417ded64 1030 /*
Jellehierck 37:806c7c8381a7 1031 ------------------------------ GLOBAL STATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 1032 */
Jellehierck 25:a1be4cf2ab0b 1033 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 1034 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 1035 // Entry function
Jellehierck 37:806c7c8381a7 1036 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1037 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1038 // More functions
Jellehierck 25:a1be4cf2ab0b 1039 }
Jellehierck 25:a1be4cf2ab0b 1040
Jellehierck 25:a1be4cf2ab0b 1041 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 1042 doStuff();
Jellehierck 25:a1be4cf2ab0b 1043
Jellehierck 25:a1be4cf2ab0b 1044 // State transition guard
Jellehierck 25:a1be4cf2ab0b 1045 if ( endCondition == true ) {
Jellehierck 37:806c7c8381a7 1046 global_curr_state = next_state;
Jellehierck 37:806c7c8381a7 1047 global_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 1048 // More functions
Jellehierck 25:a1be4cf2ab0b 1049 }
Jellehierck 25:a1be4cf2ab0b 1050 }
Jellehierck 25:a1be4cf2ab0b 1051 */
Jellehierck 25:a1be4cf2ab0b 1052
Jellehierck 37:806c7c8381a7 1053 // FAILURE MODE
Jellehierck 37:806c7c8381a7 1054 void do_global_failure()
Jellehierck 7:7a088536f1c9 1055 {
Jellehierck 37:806c7c8381a7 1056 // Entry function
Jellehierck 37:806c7c8381a7 1057 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1058 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1059
Jellehierck 37:806c7c8381a7 1060 failure_mode = true; // Set failure mode
Jellehierck 22:9079c6c0d898 1061 }
Jellehierck 37:806c7c8381a7 1062
Jellehierck 37:806c7c8381a7 1063 // Do stuff until end condition is met
Jellehierck 42:2937ad8f1032 1064 motorKillPower();
Jellehierck 37:806c7c8381a7 1065
Jellehierck 37:806c7c8381a7 1066 // State transition guard
Jellehierck 37:806c7c8381a7 1067 if ( false ) { // Never move to other state
Jellehierck 37:806c7c8381a7 1068 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1069 global_state_changed = true;
Jellehierck 37:806c7c8381a7 1070 }
Jellehierck 25:a1be4cf2ab0b 1071 }
Jellehierck 25:a1be4cf2ab0b 1072
Jellehierck 37:806c7c8381a7 1073 // DEMO MODE
Jellehierck 37:806c7c8381a7 1074 void do_global_demo()
Jellehierck 25:a1be4cf2ab0b 1075 {
Jellehierck 25:a1be4cf2ab0b 1076 // Entry function
Jellehierck 37:806c7c8381a7 1077 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1078 global_state_changed = false;
Jellehierck 37:806c7c8381a7 1079 // More functions
Jellehierck 37:806c7c8381a7 1080 }
Jellehierck 37:806c7c8381a7 1081
Jellehierck 37:806c7c8381a7 1082 // Do stuff until end condition is met
Jellehierck 37:806c7c8381a7 1083 doStuff();
Jellehierck 35:e82834e62e44 1084
Jellehierck 37:806c7c8381a7 1085 // State transition guard
Jellehierck 37:806c7c8381a7 1086 if ( switch2_pressed == true ) {
Jellehierck 37:806c7c8381a7 1087 switch2_pressed = false;
Jellehierck 37:806c7c8381a7 1088 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1089 global_state_changed = true;
Jellehierck 37:806c7c8381a7 1090 }
Jellehierck 37:806c7c8381a7 1091 }
Jellehierck 37:806c7c8381a7 1092
Jellehierck 37:806c7c8381a7 1093 // WAIT MODE
Jellehierck 37:806c7c8381a7 1094 void do_global_wait()
Jellehierck 37:806c7c8381a7 1095 {
Jellehierck 37:806c7c8381a7 1096 // Entry function
Jellehierck 37:806c7c8381a7 1097 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1098 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1099 }
Jellehierck 25:a1be4cf2ab0b 1100
Jellehierck 27:f18da01093c9 1101 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 1102
Jellehierck 37:806c7c8381a7 1103 // State transition guard
Jellehierck 37:806c7c8381a7 1104 if ( switch2_pressed == true ) { // DEMO MODE
Jellehierck 37:806c7c8381a7 1105 switch2_pressed = false;
Jellehierck 37:806c7c8381a7 1106 global_curr_state = global_demo;
Jellehierck 37:806c7c8381a7 1107 global_state_changed = true;
Jellehierck 31:b5188b6d45db 1108
Jellehierck 37:806c7c8381a7 1109 } else if ( button1_pressed == true ) { // EMG CALIBRATION
Jellehierck 37:806c7c8381a7 1110 button1_pressed = false;
Jellehierck 38:8b597ab8344f 1111 global_curr_state = global_emg_cal;
Jellehierck 37:806c7c8381a7 1112 global_state_changed = true;
Jellehierck 31:b5188b6d45db 1113
Jellehierck 37:806c7c8381a7 1114 } else if ( button2_pressed == true ) { // MOTOR CALIBRATION
Jellehierck 37:806c7c8381a7 1115 button2_pressed = false;
Jellehierck 38:8b597ab8344f 1116 global_curr_state = global_motor_cal;
Jellehierck 37:806c7c8381a7 1117 global_state_changed = true;
Jellehierck 42:2937ad8f1032 1118
Jellehierck 39:f9042483b921 1119 } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE
Jellehierck 39:f9042483b921 1120 global_curr_state = global_operation;
Jellehierck 39:f9042483b921 1121 global_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 1122 }
Jellehierck 7:7a088536f1c9 1123 }
Jellehierck 7:7a088536f1c9 1124
Jellehierck 37:806c7c8381a7 1125 // EMG CALIBRATION MODE
Jellehierck 38:8b597ab8344f 1126 void do_global_emg_cal()
Jellehierck 21:e4569b47945e 1127 {
Jellehierck 37:806c7c8381a7 1128 // Entry function
Jellehierck 37:806c7c8381a7 1129 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1130 global_state_changed = false;
Jellehierck 22:9079c6c0d898 1131 }
Jellehierck 7:7a088536f1c9 1132
Jellehierck 39:f9042483b921 1133 // Run EMG state machine until emg_cal_done flag is true
Jellehierck 39:f9042483b921 1134 emg_state_machine();
Jellehierck 31:b5188b6d45db 1135
Jellehierck 29:f51683a6cbbf 1136 // State transition guard
Jellehierck 39:f9042483b921 1137 if ( emg_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1138 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1139 global_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 1140 }
Jellehierck 25:a1be4cf2ab0b 1141 }
Jellehierck 23:8a0a0b959af1 1142
Jellehierck 37:806c7c8381a7 1143 // MOTOR CALIBRATION MODE
Jellehierck 38:8b597ab8344f 1144 void do_global_motor_cal()
Jellehierck 26:7e81c7db6e7a 1145 {
Jellehierck 25:a1be4cf2ab0b 1146 // Entry function
Jellehierck 37:806c7c8381a7 1147 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1148 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1149 }
Jellehierck 25:a1be4cf2ab0b 1150
Jellehierck 25:a1be4cf2ab0b 1151 // Do stuff until end condition is met
Jellehierck 40:c6dffb676350 1152 motor_state_machine();
Jellehierck 28:59e8266f4633 1153
Jellehierck 25:a1be4cf2ab0b 1154 // State transition guard
Jellehierck 41:8e8141f355af 1155 if ( motor_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1156 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1157 global_state_changed = true;
Jellehierck 23:8a0a0b959af1 1158 }
Jellehierck 23:8a0a0b959af1 1159 }
Jellehierck 23:8a0a0b959af1 1160
Jellehierck 37:806c7c8381a7 1161 // OPERATION MODE
Jellehierck 37:806c7c8381a7 1162 void do_global_operation()
Jellehierck 37:806c7c8381a7 1163 {
Jellehierck 37:806c7c8381a7 1164 // Entry function
Jellehierck 37:806c7c8381a7 1165 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1166 global_state_changed = false;
Jellehierck 40:c6dffb676350 1167
Jellehierck 39:f9042483b921 1168 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 39:f9042483b921 1169 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 37:806c7c8381a7 1170 }
Jellehierck 37:806c7c8381a7 1171
Jellehierck 37:806c7c8381a7 1172 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 1173 operation_state_machine();
Jellehierck 42:2937ad8f1032 1174
Jellehierck 39:f9042483b921 1175 // Set HIDScope outputs
Jellehierck 39:f9042483b921 1176 scope.set(0, emg1 );
Jellehierck 41:8e8141f355af 1177 scope.set(1, Vx );
Jellehierck 41:8e8141f355af 1178 scope.set(2, emg2 );
Jellehierck 41:8e8141f355af 1179 scope.set(3, Vy );
Jellehierck 39:f9042483b921 1180 //scope.set(2, emg2_out );
Jellehierck 39:f9042483b921 1181 //scope.set(3, emg3_out );
Jellehierck 39:f9042483b921 1182 scope.send();
Jellehierck 39:f9042483b921 1183
Jellehierck 39:f9042483b921 1184 led_g = !led_g;
Jellehierck 37:806c7c8381a7 1185
Jellehierck 37:806c7c8381a7 1186 // State transition guard
Jellehierck 37:806c7c8381a7 1187 if ( false ) { // Always stay in operation mode (can be changed)
Jellehierck 37:806c7c8381a7 1188 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1189 global_state_changed = true;
Jellehierck 37:806c7c8381a7 1190 }
Jellehierck 37:806c7c8381a7 1191 }
Jellehierck 23:8a0a0b959af1 1192 /*
Jellehierck 37:806c7c8381a7 1193 ------------------------------ GLOBAL STATE MACHINE ------------------------------
Jellehierck 23:8a0a0b959af1 1194 */
Jellehierck 37:806c7c8381a7 1195 void global_state_machine()
Jellehierck 23:8a0a0b959af1 1196 {
Jellehierck 37:806c7c8381a7 1197 switch(global_curr_state) {
Jellehierck 37:806c7c8381a7 1198 case global_failure:
Jellehierck 37:806c7c8381a7 1199 do_global_failure();
Jellehierck 23:8a0a0b959af1 1200 break;
Jellehierck 37:806c7c8381a7 1201 case global_wait:
Jellehierck 37:806c7c8381a7 1202 do_global_wait();
Jellehierck 37:806c7c8381a7 1203 break;
Jellehierck 38:8b597ab8344f 1204 case global_emg_cal:
Jellehierck 38:8b597ab8344f 1205 do_global_emg_cal();
Jellehierck 23:8a0a0b959af1 1206 break;
Jellehierck 38:8b597ab8344f 1207 case global_motor_cal:
Jellehierck 38:8b597ab8344f 1208 do_global_motor_cal();
Jellehierck 23:8a0a0b959af1 1209 break;
Jellehierck 37:806c7c8381a7 1210 case global_operation:
Jellehierck 37:806c7c8381a7 1211 do_global_operation();
Jellehierck 37:806c7c8381a7 1212 break;
Jellehierck 37:806c7c8381a7 1213 case global_demo:
Jellehierck 37:806c7c8381a7 1214 do_global_demo();
Jellehierck 23:8a0a0b959af1 1215 break;
Jellehierck 23:8a0a0b959af1 1216 }
Jellehierck 23:8a0a0b959af1 1217 }
Jellehierck 23:8a0a0b959af1 1218
Jellehierck 38:8b597ab8344f 1219 /*
Jellehierck 38:8b597ab8344f 1220 ------------------------------ READ SAMPLES ------------------------------
Jellehierck 38:8b597ab8344f 1221 */
Jellehierck 38:8b597ab8344f 1222 void sampleSignals()
Jellehierck 38:8b597ab8344f 1223 {
Jellehierck 38:8b597ab8344f 1224 if (emg_sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 38:8b597ab8344f 1225 // Read EMG inputs
Jellehierck 38:8b597ab8344f 1226 emg1 = emg1_in.read();
Jellehierck 38:8b597ab8344f 1227 emg2 = emg2_in.read();
Jellehierck 38:8b597ab8344f 1228 emg3 = emg3_in.read();
Jellehierck 38:8b597ab8344f 1229
Jellehierck 38:8b597ab8344f 1230 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 38:8b597ab8344f 1231 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1232 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1233 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1234
Jellehierck 38:8b597ab8344f 1235 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 38:8b597ab8344f 1236 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1237 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1238 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1239
Jellehierck 38:8b597ab8344f 1240 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 38:8b597ab8344f 1241 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1242 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1243 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1244
Jellehierck 38:8b597ab8344f 1245 if (emg_calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 38:8b597ab8344f 1246 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1247 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 38:8b597ab8344f 1248 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1249 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 38:8b597ab8344f 1250 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1251 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 38:8b597ab8344f 1252 }
Jellehierck 38:8b597ab8344f 1253 }
Jellehierck 40:c6dffb676350 1254
Jellehierck 40:c6dffb676350 1255 counts1af = encoder1.getPulses();
Jellehierck 40:c6dffb676350 1256 deltaCounts1 = counts1af - countsPrev1;
Jellehierck 40:c6dffb676350 1257 countsPrev1 = counts1af;
Jellehierck 40:c6dffb676350 1258
Jellehierck 40:c6dffb676350 1259 counts2af = encoder2.getPulses();
Jellehierck 40:c6dffb676350 1260 deltaCounts2 = counts2af - countsPrev2;
Jellehierck 40:c6dffb676350 1261 countsPrev2 = counts2af;
Jellehierck 38:8b597ab8344f 1262 }
Jellehierck 37:806c7c8381a7 1263
Jellehierck 37:806c7c8381a7 1264 /*
Jellehierck 37:806c7c8381a7 1265 ------------------------------ GLOBAL PROGRAM LOOP ------------------------------
Jellehierck 37:806c7c8381a7 1266 */
Jellehierck 25:a1be4cf2ab0b 1267 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 1268 {
Jellehierck 38:8b597ab8344f 1269 sampleSignals();
Jellehierck 37:806c7c8381a7 1270 global_state_machine();
Jellehierck 25:a1be4cf2ab0b 1271 // controller();
Jellehierck 25:a1be4cf2ab0b 1272 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 1273 }
Jellehierck 25:a1be4cf2ab0b 1274
Jellehierck 37:806c7c8381a7 1275 /*
Jellehierck 37:806c7c8381a7 1276 ------------------------------ MAIN FUNCTION ------------------------------
Jellehierck 37:806c7c8381a7 1277 */
Jellehierck 39:f9042483b921 1278 int main()
Jellehierck 23:8a0a0b959af1 1279 {
Jellehierck 23:8a0a0b959af1 1280 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 1281 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 1282
Jellehierck 37:806c7c8381a7 1283 global_curr_state = global_wait; // Start off in EMG Wait state
Jellehierck 34:13fac02ef324 1284 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 8:ea3de43c9e8b 1285
Jellehierck 38:8b597ab8344f 1286 // ---------- Attach filters ----------
Jellehierck 38:8b597ab8344f 1287 bqc1_notch.add( &bq1_notch );
Jellehierck 38:8b597ab8344f 1288 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 38:8b597ab8344f 1289 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 38:8b597ab8344f 1290
Jellehierck 38:8b597ab8344f 1291 bqc2_notch.add( &bq2_notch );
Jellehierck 38:8b597ab8344f 1292 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 38:8b597ab8344f 1293 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 38:8b597ab8344f 1294
Jellehierck 38:8b597ab8344f 1295 bqc3_notch.add( &bq3_notch );
Jellehierck 38:8b597ab8344f 1296 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 38:8b597ab8344f 1297 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 38:8b597ab8344f 1298
Jellehierck 38:8b597ab8344f 1299 // ---------- Attach buttons ----------
Jellehierck 37:806c7c8381a7 1300 button1.fall( &button1Press );
Jellehierck 37:806c7c8381a7 1301 button2.fall( &button2Press );
Jellehierck 37:806c7c8381a7 1302 switch2.fall( &switch2Press );
Jellehierck 37:806c7c8381a7 1303 switch3.fall( &switch3Press );
Jellehierck 42:2937ad8f1032 1304
Jellehierck 40:c6dffb676350 1305 // ---------- Attach PWM ----------
Jellehierck 40:c6dffb676350 1306 motor1Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1307 motor2Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1308
Jellehierck 38:8b597ab8344f 1309 // ---------- Turn OFF LEDs ----------
Jellehierck 38:8b597ab8344f 1310 led_b = 1;
Jellehierck 38:8b597ab8344f 1311 led_g = 1;
Jellehierck 38:8b597ab8344f 1312 led_r = 1;
Jellehierck 37:806c7c8381a7 1313
Jellehierck 23:8a0a0b959af1 1314 while(true) {
Jellehierck 40:c6dffb676350 1315 pc.printf("Global state: %i EMG substate: %i Motor substate: %i\r\n", global_curr_state, emg_curr_state, motor_curr_state);
Jellehierck 41:8e8141f355af 1316 pc.printf("EMG1 direction: %f EMG2 direction: %f \r\n", emg1_dir, emg2_dir);
Jellehierck 41:8e8141f355af 1317 pc.printf("Vx: %f Vy: %f \r\n", Vx, Vy);
Jellehierck 40:c6dffb676350 1318 pc.printf("q1: %f q2: %f \r\n",q1*rad2deg,q2*rad2deg);
Jellehierck 40:c6dffb676350 1319 pc.printf("Xe: %f Ye: %f\r\n",xe,ye);
Jellehierck 30:bac3b60d6283 1320 wait(0.5f);
Jellehierck 23:8a0a0b959af1 1321 }
Jellehierck 23:8a0a0b959af1 1322 }