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@42:2937ad8f1032, 2019-10-31 (annotated)

Committer:
Jellehierck
Date:
Thu Oct 31 11:04:45 2019 +0000
Revision:
42:2937ad8f1032
Parent:
41:8e8141f355af
Child:
43:1bd5417ded64
Operation mode state machine implemented, needs testing

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