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@53:35282a3e0cad, 2019-10-31 (annotated)

Committer:
Jellehierck
Date:
Thu Oct 31 21:11:16 2019 +0000
Revision:
53:35282a3e0cad
Parent:
52:fd35025574ca
Child:
54:a14acf0d1683
Added potmeter Vx and Vy control, 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);
BasB 47:63b5ccd969e9 26 DigitalIn extButton1(D2); //Servo button
Jellehierck 4:09a01d2db8f7 27
Jellehierck 38:8b597ab8344f 28 // LEDs
Jellehierck 38:8b597ab8344f 29 DigitalOut led_g(LED_GREEN);
Jellehierck 38:8b597ab8344f 30 DigitalOut led_r(LED_RED);
Jellehierck 38:8b597ab8344f 31 DigitalOut led_b(LED_BLUE);
Jellehierck 38:8b597ab8344f 32
Jellehierck 38:8b597ab8344f 33 // Analog EMG inputs
Jellehierck 40:c6dffb676350 34 AnalogIn emg1_in (A0); // Right biceps -> x axis
Jellehierck 40:c6dffb676350 35 AnalogIn emg2_in (A1); // Left biceps -> y axis
Jellehierck 40:c6dffb676350 36 AnalogIn emg3_in (A2); // Third muscle -> TBD
Jellehierck 45:d09040915cfe 37 AnalogIn emg4_in (A3); // Third muscle -> TBD
Jellehierck 45:d09040915cfe 38
Jellehierck 53:35282a3e0cad 39 // Analog Potmeter inputs
Jellehierck 53:35282a3e0cad 40 AnalogIn potmeter1 (A4);
Jellehierck 53:35282a3e0cad 41 AnalogIn potmeter2 (A5);
Jellehierck 40:c6dffb676350 42
Jellehierck 40:c6dffb676350 43 // Encoder inputs
Jellehierck 40:c6dffb676350 44 DigitalIn encA1(D9);
Jellehierck 40:c6dffb676350 45 DigitalIn encB1(D8);
Jellehierck 40:c6dffb676350 46 DigitalIn encA2(D13);
Jellehierck 40:c6dffb676350 47 DigitalIn encB2(D12);
Jellehierck 40:c6dffb676350 48
Jellehierck 40:c6dffb676350 49 // Motor outputs
Jellehierck 42:2937ad8f1032 50 DigitalOut motor1Direction(D7);
Jellehierck 42:2937ad8f1032 51 FastPWM motor1Power(D6);
Jellehierck 40:c6dffb676350 52 DigitalOut motor2Direction(D4);
Jellehierck 40:c6dffb676350 53 FastPWM motor2Power(D5);
Jellehierck 42:2937ad8f1032 54
Jellehierck 42:2937ad8f1032 55 // Servo
BasB 47:63b5ccd969e9 56 Servo myservo(D3);
Jellehierck 38:8b597ab8344f 57
Jellehierck 15:421d3d9c563b 58 /*
Jellehierck 38:8b597ab8344f 59 ------------------------------ INITIALIZE TICKERS, TIMERS & TIMEOUTS ------------------------------
Jellehierck 38:8b597ab8344f 60 */
Jellehierck 38:8b597ab8344f 61 Ticker tickGlobal; // Set global ticker
Jellehierck 51:7fe2659a1fcb 62 Ticker tickLED; // LED ticker
Jellehierck 38:8b597ab8344f 63 Timer timerCalibration; // Set EMG Calibration timer
Jellehierck 38:8b597ab8344f 64
Jellehierck 38:8b597ab8344f 65 /*
Jellehierck 38:8b597ab8344f 66 ------------------------------ INITIALIZE GLOBAL VARIABLES ------------------------------
Jellehierck 15:421d3d9c563b 67 */
Jellehierck 15:421d3d9c563b 68
Jellehierck 37:806c7c8381a7 69 // State machine variables
Jellehierck 38:8b597ab8344f 70 enum GLOBAL_States { global_failure, global_wait, global_emg_cal, global_motor_cal, global_operation, global_demo }; // Define global states
Jellehierck 37:806c7c8381a7 71 GLOBAL_States global_curr_state = global_wait; // Initialize global state to waiting state
Jellehierck 37:806c7c8381a7 72 bool global_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 73 bool failure_mode = false; // Global failure mode flag (not used yet)
Jellehierck 42:2937ad8f1032 74 bool emg_cal_done = false; // Global EMG calibration flag
Jellehierck 42:2937ad8f1032 75 bool motor_cal_done = false; // Global motor calibration flag
Jellehierck 38:8b597ab8344f 76
Jellehierck 38:8b597ab8344f 77 // EMG Substate variables
Jellehierck 38:8b597ab8344f 78 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates
Jellehierck 38:8b597ab8344f 79 EMG_States emg_curr_state = emg_wait; // Initialize EMG substate variable
Jellehierck 42:2937ad8f1032 80 bool emg_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 81 bool emg_sampleNow = false; // Flag to enable EMG sampling and filtering in sampleSignals()
Jellehierck 42:2937ad8f1032 82 bool emg_calibrateNow = false; // Flag to enable EMG calibration in sampleSignals()
Jellehierck 42:2937ad8f1032 83 bool emg_MVC_cal_done = false; // Internal MVC calibration flag
Jellehierck 42:2937ad8f1032 84 bool emg_rest_cal_done = false; // Internal rest calibration flag
Jellehierck 8:ea3de43c9e8b 85
Jellehierck 40:c6dffb676350 86 // Motor Substate variables
Jellehierck 51:7fe2659a1fcb 87 enum Motor_States { motor_encoder_set, motor_finish }; // Define motor substates
Jellehierck 51:7fe2659a1fcb 88 Motor_States motor_curr_state = motor_encoder_set; // Initialize motor substate variable
Jellehierck 42:2937ad8f1032 89 bool motor_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 90 bool motor_encoder_cal_done = false; // Internal encoder calibration flag
Jellehierck 40:c6dffb676350 91
Jellehierck 42:2937ad8f1032 92 // Operation Substate variables
Jellehierck 42:2937ad8f1032 93 enum Operation_States { operation_wait, operation_movement, operation_finish }; // Define operation substates
Jellehierck 42:2937ad8f1032 94 Operation_States operation_curr_state = operation_wait; // Initialize operation substate variable
Jellehierck 42:2937ad8f1032 95 bool operation_state_changed = true; // Enable entry functions
Jellehierck 42:2937ad8f1032 96 bool operation_showcard = false; // Internal flag to toggle servo position
Jellehierck 51:7fe2659a1fcb 97 bool exit_operation = false;
Jellehierck 40:c6dffb676350 98
Jellehierck 43:1bd5417ded64 99 // Demo Substate variables
Jellehierck 43:1bd5417ded64 100 enum Demo_States { demo_wait, demo_motor_cal, demo_XY }; // Define demo substates
Jellehierck 43:1bd5417ded64 101 Demo_States demo_curr_state; // Initialize demo substate variable
Jellehierck 43:1bd5417ded64 102 bool demo_state_changed = true; // Enable entry functions
Jellehierck 43:1bd5417ded64 103
Jellehierck 37:806c7c8381a7 104 // Button press interrupts (to prevent bounce)
Jellehierck 37:806c7c8381a7 105 bool button1_pressed = false;
Jellehierck 37:806c7c8381a7 106 bool button2_pressed = false;
Jellehierck 37:806c7c8381a7 107 bool switch2_pressed = false;
Jellehierck 53:35282a3e0cad 108 bool servo_button1;
Jellehierck 7:7a088536f1c9 109
Jellehierck 51:7fe2659a1fcb 110 // LED states
Jellehierck 51:7fe2659a1fcb 111 enum LED_Colors { off, red, green, blue, purple, yellow, cyan, white }; // Define possible LED colors
Jellehierck 51:7fe2659a1fcb 112 LED_Colors curr_led_color; // Initialize LED color variable
Jellehierck 51:7fe2659a1fcb 113 bool led_color_changed = true; // Enable LED entry functions
Jellehierck 51:7fe2659a1fcb 114
Jellehierck 38:8b597ab8344f 115 // Global constants
Jellehierck 38:8b597ab8344f 116 const double Fs = 500.0;
Jellehierck 38:8b597ab8344f 117 const double Ts = 1/Fs;
Jellehierck 35:e82834e62e44 118
Jellehierck 35:e82834e62e44 119 /*
Jellehierck 51:7fe2659a1fcb 120 ------------------------------ LED COLOR FUNCTIONS ------------------------------
Jellehierck 51:7fe2659a1fcb 121 */
Jellehierck 51:7fe2659a1fcb 122 // Only called once when color is changed
Jellehierck 51:7fe2659a1fcb 123 void set_led_color(char color)
Jellehierck 51:7fe2659a1fcb 124 {
Jellehierck 51:7fe2659a1fcb 125 switch(color) {
Jellehierck 51:7fe2659a1fcb 126 case 'o':
Jellehierck 51:7fe2659a1fcb 127 curr_led_color = off;
Jellehierck 51:7fe2659a1fcb 128 break;
Jellehierck 51:7fe2659a1fcb 129 case 'r':
Jellehierck 51:7fe2659a1fcb 130 curr_led_color = red;
Jellehierck 51:7fe2659a1fcb 131 break;
Jellehierck 51:7fe2659a1fcb 132 case 'b':
Jellehierck 51:7fe2659a1fcb 133 curr_led_color = blue;
Jellehierck 51:7fe2659a1fcb 134 break;
Jellehierck 51:7fe2659a1fcb 135 case 'g':
Jellehierck 51:7fe2659a1fcb 136 curr_led_color = green;
Jellehierck 51:7fe2659a1fcb 137 break;
Jellehierck 51:7fe2659a1fcb 138 case 'y':
Jellehierck 51:7fe2659a1fcb 139 curr_led_color = yellow;
Jellehierck 51:7fe2659a1fcb 140 break;
Jellehierck 51:7fe2659a1fcb 141 case 'p':
Jellehierck 51:7fe2659a1fcb 142 curr_led_color = purple;
Jellehierck 51:7fe2659a1fcb 143 break;
Jellehierck 51:7fe2659a1fcb 144 case 'c':
Jellehierck 51:7fe2659a1fcb 145 curr_led_color = cyan;
Jellehierck 51:7fe2659a1fcb 146 break;
Jellehierck 51:7fe2659a1fcb 147 case 'w':
Jellehierck 51:7fe2659a1fcb 148 curr_led_color = white;
Jellehierck 51:7fe2659a1fcb 149 break;
Jellehierck 51:7fe2659a1fcb 150
Jellehierck 51:7fe2659a1fcb 151 }
Jellehierck 51:7fe2659a1fcb 152 led_color_changed = true;
Jellehierck 51:7fe2659a1fcb 153 }
Jellehierck 51:7fe2659a1fcb 154
Jellehierck 51:7fe2659a1fcb 155 // Run constantly
Jellehierck 51:7fe2659a1fcb 156 void disp_led_color()
Jellehierck 51:7fe2659a1fcb 157 {
Jellehierck 51:7fe2659a1fcb 158 if (led_color_changed == true) {
Jellehierck 51:7fe2659a1fcb 159 led_color_changed = false;
Jellehierck 51:7fe2659a1fcb 160 led_g = 1;
Jellehierck 51:7fe2659a1fcb 161 led_b = 1;
Jellehierck 51:7fe2659a1fcb 162 led_r = 1;
Jellehierck 51:7fe2659a1fcb 163 }
Jellehierck 51:7fe2659a1fcb 164 switch(curr_led_color) {
Jellehierck 51:7fe2659a1fcb 165 case off:
Jellehierck 51:7fe2659a1fcb 166 break;
Jellehierck 51:7fe2659a1fcb 167 case red:
Jellehierck 51:7fe2659a1fcb 168 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 169 break;
Jellehierck 51:7fe2659a1fcb 170 case blue:
Jellehierck 51:7fe2659a1fcb 171 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 172 break;
Jellehierck 51:7fe2659a1fcb 173 case green:
Jellehierck 51:7fe2659a1fcb 174 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 175 break;
Jellehierck 51:7fe2659a1fcb 176 case yellow:
Jellehierck 51:7fe2659a1fcb 177 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 178 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 179 break;
Jellehierck 51:7fe2659a1fcb 180 case purple:
Jellehierck 51:7fe2659a1fcb 181 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 182 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 183 break;
Jellehierck 51:7fe2659a1fcb 184 case cyan:
Jellehierck 51:7fe2659a1fcb 185 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 186 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 187 break;
Jellehierck 51:7fe2659a1fcb 188 case white:
Jellehierck 51:7fe2659a1fcb 189 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 190 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 191 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 192 break;
Jellehierck 51:7fe2659a1fcb 193 }
Jellehierck 51:7fe2659a1fcb 194 }
Jellehierck 51:7fe2659a1fcb 195
Jellehierck 51:7fe2659a1fcb 196 /*
Jellehierck 37:806c7c8381a7 197 ------------------------------ HELPER FUNCTIONS ------------------------------
Jellehierck 37:806c7c8381a7 198 */
Jellehierck 38:8b597ab8344f 199 // Empty placeholder function, needs to be deleted at end of project
Jellehierck 38:8b597ab8344f 200 void doStuff() {}
Jellehierck 38:8b597ab8344f 201
Jellehierck 38:8b597ab8344f 202 // Return max value of vector
Jellehierck 38:8b597ab8344f 203 double getMax(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 204 {
Jellehierck 38:8b597ab8344f 205 double curr_max = 0.0;
Jellehierck 38:8b597ab8344f 206 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 207 for (int i = 0; i < vect_n; i++) {
Jellehierck 38:8b597ab8344f 208 if (vect[i] > curr_max) {
Jellehierck 38:8b597ab8344f 209 curr_max = vect[i];
Jellehierck 38:8b597ab8344f 210 };
Jellehierck 38:8b597ab8344f 211 }
Jellehierck 38:8b597ab8344f 212 return curr_max;
Jellehierck 38:8b597ab8344f 213 }
Jellehierck 37:806c7c8381a7 214
Jellehierck 38:8b597ab8344f 215 // Return mean of vector
Jellehierck 38:8b597ab8344f 216 double getMean(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 217 {
Jellehierck 38:8b597ab8344f 218 double sum = 0.0;
Jellehierck 38:8b597ab8344f 219 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 220 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 221 sum += vect[i];
Jellehierck 38:8b597ab8344f 222 }
Jellehierck 38:8b597ab8344f 223 return sum/vect_n;
Jellehierck 38:8b597ab8344f 224 }
Jellehierck 37:806c7c8381a7 225
Jellehierck 38:8b597ab8344f 226 // Return standard deviation of vector
Jellehierck 38:8b597ab8344f 227 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 38:8b597ab8344f 228 {
Jellehierck 38:8b597ab8344f 229 double sum2 = 0.0;
Jellehierck 38:8b597ab8344f 230 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 231 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 232 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 38:8b597ab8344f 233 }
Jellehierck 38:8b597ab8344f 234 double output = sqrt( sum2 / vect_n );
Jellehierck 38:8b597ab8344f 235 return output;
Jellehierck 38:8b597ab8344f 236 }
Jellehierck 38:8b597ab8344f 237
Jellehierck 38:8b597ab8344f 238 // Rescale double values to certain range
Jellehierck 38:8b597ab8344f 239 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 38:8b597ab8344f 240 {
Jellehierck 38:8b597ab8344f 241 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 38:8b597ab8344f 242 return output;
Jellehierck 38:8b597ab8344f 243 }
Jellehierck 37:806c7c8381a7 244
Jellehierck 37:806c7c8381a7 245 /*
Jellehierck 37:806c7c8381a7 246 ------------------------------ BUTTON FUNCTIONS ------------------------------
Jellehierck 35:e82834e62e44 247 */
Jellehierck 35:e82834e62e44 248
Jellehierck 25:a1be4cf2ab0b 249 // Handle button press
Jellehierck 25:a1be4cf2ab0b 250 void button1Press()
Jellehierck 25:a1be4cf2ab0b 251 {
Jellehierck 25:a1be4cf2ab0b 252 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 253 }
Jellehierck 25:a1be4cf2ab0b 254
Jellehierck 25:a1be4cf2ab0b 255 // Handle button press
Jellehierck 25:a1be4cf2ab0b 256 void button2Press()
Jellehierck 25:a1be4cf2ab0b 257 {
Jellehierck 25:a1be4cf2ab0b 258 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 259 }
Jellehierck 25:a1be4cf2ab0b 260
Jellehierck 37:806c7c8381a7 261 void switch2Press()
Jellehierck 6:5437cc97e1e6 262 {
Jellehierck 37:806c7c8381a7 263 switch2_pressed = true;
Jellehierck 35:e82834e62e44 264 }
Jellehierck 6:5437cc97e1e6 265
Jellehierck 37:806c7c8381a7 266 void switch3Press()
Jellehierck 35:e82834e62e44 267 {
Jellehierck 37:806c7c8381a7 268 global_curr_state = global_failure;
Jellehierck 37:806c7c8381a7 269 global_state_changed = true;
Jellehierck 6:5437cc97e1e6 270 }
Jellehierck 6:5437cc97e1e6 271
Jellehierck 15:421d3d9c563b 272 /*
Jellehierck 38:8b597ab8344f 273 ------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 38:8b597ab8344f 274 */
Jellehierck 38:8b597ab8344f 275
Jellehierck 38:8b597ab8344f 276 // Set global constant values for EMG reading & analysis
Jellehierck 41:8e8141f355af 277 const double Tcal = 7.5f; // Calibration duration (s)
Jellehierck 38:8b597ab8344f 278
Jellehierck 38:8b597ab8344f 279 // Initialize variables for EMG reading & analysis
Jellehierck 38:8b597ab8344f 280 double emg1;
Jellehierck 38:8b597ab8344f 281 double emg1_env;
Jellehierck 38:8b597ab8344f 282 double emg1_MVC;
Jellehierck 38:8b597ab8344f 283 double emg1_rest;
Jellehierck 38:8b597ab8344f 284 double emg1_factor;//delete
Jellehierck 38:8b597ab8344f 285 double emg1_th;
Jellehierck 38:8b597ab8344f 286 double emg1_out;
Jellehierck 38:8b597ab8344f 287 double emg1_norm; //delete
Jellehierck 38:8b597ab8344f 288 vector<double> emg1_cal;
Jellehierck 38:8b597ab8344f 289 int emg1_cal_size; //delete
Jellehierck 41:8e8141f355af 290 double emg1_dir = 1.0;
Jellehierck 38:8b597ab8344f 291
Jellehierck 38:8b597ab8344f 292 double emg2;
Jellehierck 38:8b597ab8344f 293 double emg2_env;
Jellehierck 38:8b597ab8344f 294 double emg2_MVC;
Jellehierck 38:8b597ab8344f 295 double emg2_rest;
Jellehierck 38:8b597ab8344f 296 double emg2_factor;//delete
Jellehierck 38:8b597ab8344f 297 double emg2_th;
Jellehierck 38:8b597ab8344f 298 double emg2_out;
Jellehierck 38:8b597ab8344f 299 double emg2_norm;//delete
Jellehierck 38:8b597ab8344f 300 vector<double> emg2_cal;
Jellehierck 38:8b597ab8344f 301 int emg2_cal_size;//delete
Jellehierck 41:8e8141f355af 302 double emg2_dir = 1.0;
Jellehierck 38:8b597ab8344f 303
Jellehierck 38:8b597ab8344f 304 double emg3;
Jellehierck 38:8b597ab8344f 305 double emg3_env;
Jellehierck 38:8b597ab8344f 306 double emg3_MVC;
Jellehierck 38:8b597ab8344f 307 double emg3_rest;
Jellehierck 38:8b597ab8344f 308 double emg3_factor;//delete
Jellehierck 38:8b597ab8344f 309 double emg3_th;
Jellehierck 38:8b597ab8344f 310 double emg3_out;
Jellehierck 38:8b597ab8344f 311 double emg3_norm;//delete
Jellehierck 38:8b597ab8344f 312 vector<double> emg3_cal;
Jellehierck 45:d09040915cfe 313
Jellehierck 45:d09040915cfe 314 double emg4;
Jellehierck 45:d09040915cfe 315 double emg4_env;
Jellehierck 45:d09040915cfe 316 double emg4_MVC;
Jellehierck 45:d09040915cfe 317 double emg4_rest;
Jellehierck 45:d09040915cfe 318 double emg4_factor;//delete
Jellehierck 45:d09040915cfe 319 double emg4_th;
Jellehierck 45:d09040915cfe 320 double emg4_out;
Jellehierck 45:d09040915cfe 321 double emg4_norm;//delete
Jellehierck 45:d09040915cfe 322 vector<double> emg4_cal;
Jellehierck 38:8b597ab8344f 323
Jellehierck 38:8b597ab8344f 324 /*
Jellehierck 38:8b597ab8344f 325 ------------------------------ EMG FILTERS ------------------------------
Jellehierck 38:8b597ab8344f 326 */
Jellehierck 38:8b597ab8344f 327
Jellehierck 38:8b597ab8344f 328 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 38:8b597ab8344f 329 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 330 BiQuad bq2_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 331 BiQuad bq3_notch = bq1_notch;
Jellehierck 45:d09040915cfe 332 BiQuad bq4_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 333 BiQuadChain bqc1_notch;
Jellehierck 38:8b597ab8344f 334 BiQuadChain bqc2_notch;
Jellehierck 38:8b597ab8344f 335 BiQuadChain bqc3_notch;
Jellehierck 45:d09040915cfe 336 BiQuadChain bqc4_notch;
Jellehierck 38:8b597ab8344f 337
Jellehierck 38:8b597ab8344f 338 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 38:8b597ab8344f 339 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 340 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 341 BiQuad bq2_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 342 BiQuad bq2_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 343 BiQuad bq3_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 344 BiQuad bq3_H2 = bq1_H2;
Jellehierck 45:d09040915cfe 345 BiQuad bq4_H1 = bq1_H1;
Jellehierck 45:d09040915cfe 346 BiQuad bq4_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 347 BiQuadChain bqc1_high;
Jellehierck 38:8b597ab8344f 348 BiQuadChain bqc2_high;
Jellehierck 38:8b597ab8344f 349 BiQuadChain bqc3_high;
Jellehierck 45:d09040915cfe 350 BiQuadChain bqc4_high;
Jellehierck 38:8b597ab8344f 351
Jellehierck 38:8b597ab8344f 352 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 38:8b597ab8344f 353 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 354 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 355 BiQuad bq2_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 356 BiQuad bq2_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 357 BiQuad bq3_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 358 BiQuad bq3_L2 = bq1_L2;
Jellehierck 45:d09040915cfe 359 BiQuad bq4_L1 = bq1_L1;
Jellehierck 45:d09040915cfe 360 BiQuad bq4_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 361 BiQuadChain bqc1_low;
Jellehierck 38:8b597ab8344f 362 BiQuadChain bqc2_low;
Jellehierck 38:8b597ab8344f 363 BiQuadChain bqc3_low;
Jellehierck 45:d09040915cfe 364 BiQuadChain bqc4_low;
Jellehierck 38:8b597ab8344f 365
Jellehierck 38:8b597ab8344f 366 // Function to check filter stability
Jellehierck 38:8b597ab8344f 367 bool checkBQChainStable()
Jellehierck 38:8b597ab8344f 368 {
Jellehierck 38:8b597ab8344f 369 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 38:8b597ab8344f 370 bool hp_stable = bqc1_high.stable();
Jellehierck 38:8b597ab8344f 371 bool l_stable = bqc1_low.stable();
Jellehierck 38:8b597ab8344f 372
Jellehierck 38:8b597ab8344f 373 if (n_stable && hp_stable && l_stable) {
Jellehierck 38:8b597ab8344f 374 return true;
Jellehierck 38:8b597ab8344f 375 } else {
Jellehierck 38:8b597ab8344f 376 return false;
Jellehierck 38:8b597ab8344f 377 }
Jellehierck 38:8b597ab8344f 378 }
Jellehierck 42:2937ad8f1032 379
Jellehierck 42:2937ad8f1032 380 /*
Jellehierck 42:2937ad8f1032 381 ------------------------------ EMG GLOBAL FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 382 */
Jellehierck 42:2937ad8f1032 383
Jellehierck 42:2937ad8f1032 384 void EMGOperationFunc()
Jellehierck 42:2937ad8f1032 385 {
Jellehierck 42:2937ad8f1032 386 emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor
Jellehierck 42:2937ad8f1032 387 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 42:2937ad8f1032 388 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 45:d09040915cfe 389 emg4_norm = emg4_env * emg4_factor; // Idem
Jellehierck 42:2937ad8f1032 390
Jellehierck 42:2937ad8f1032 391
Jellehierck 42:2937ad8f1032 392 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 42:2937ad8f1032 393 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 42:2937ad8f1032 394 emg1_out = 0.0;
Jellehierck 42:2937ad8f1032 395 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 42:2937ad8f1032 396 emg1_out = 1.0;
Jellehierck 42:2937ad8f1032 397 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 42:2937ad8f1032 398 // Inputs may be in range [emg_th, 1]
Jellehierck 42:2937ad8f1032 399 // Outputs are scaled to range [0, 1]
Jellehierck 42:2937ad8f1032 400 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 42:2937ad8f1032 401 }
Jellehierck 42:2937ad8f1032 402
Jellehierck 42:2937ad8f1032 403 // Idem for emg2
Jellehierck 42:2937ad8f1032 404 if ( emg2_norm < emg2_th ) {
Jellehierck 42:2937ad8f1032 405 emg2_out = 0.0;
Jellehierck 42:2937ad8f1032 406 } else if ( emg2_norm > 1.0f ) {
Jellehierck 42:2937ad8f1032 407 emg2_out = 1.0;
Jellehierck 42:2937ad8f1032 408 } else {
Jellehierck 42:2937ad8f1032 409 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 42:2937ad8f1032 410 }
Jellehierck 42:2937ad8f1032 411
Jellehierck 42:2937ad8f1032 412 // Idem for emg3
Jellehierck 42:2937ad8f1032 413 if ( emg3_norm < emg3_th ) {
Jellehierck 45:d09040915cfe 414 emg1_dir = 1.0;
Jellehierck 42:2937ad8f1032 415 } else {
Jellehierck 45:d09040915cfe 416 emg1_dir = -1.0;
Jellehierck 45:d09040915cfe 417 }
Jellehierck 51:7fe2659a1fcb 418
Jellehierck 45:d09040915cfe 419 if ( emg4_norm < emg4_th ) {
Jellehierck 45:d09040915cfe 420 emg2_dir = 1.0;
Jellehierck 45:d09040915cfe 421 } else {
Jellehierck 45:d09040915cfe 422 emg2_dir = -1.0;
Jellehierck 42:2937ad8f1032 423 }
Jellehierck 42:2937ad8f1032 424 }
Jellehierck 38:8b597ab8344f 425 /*
Jellehierck 38:8b597ab8344f 426 ------------------------------ EMG SUBSTATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 427 */
Jellehierck 38:8b597ab8344f 428
Jellehierck 38:8b597ab8344f 429 // EMG Waiting state
Jellehierck 38:8b597ab8344f 430 void do_emg_wait()
Jellehierck 38:8b597ab8344f 431 {
Jellehierck 38:8b597ab8344f 432 // Entry function
Jellehierck 38:8b597ab8344f 433 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 434 emg_state_changed = false; // Disable entry functions
Jellehierck 38:8b597ab8344f 435
Jellehierck 38:8b597ab8344f 436 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 38:8b597ab8344f 437 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 38:8b597ab8344f 438 }
Jellehierck 38:8b597ab8344f 439
Jellehierck 38:8b597ab8344f 440 // Do nothing until end condition is met
Jellehierck 38:8b597ab8344f 441
Jellehierck 38:8b597ab8344f 442 // State transition guard
Jellehierck 38:8b597ab8344f 443 if ( button1_pressed ) { // MVC calibration
Jellehierck 38:8b597ab8344f 444 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 445 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 446 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 447 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 38:8b597ab8344f 448 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 449
Jellehierck 38:8b597ab8344f 450 } else if ( button2_pressed ) { // Rest calibration
Jellehierck 38:8b597ab8344f 451 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 452 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 453 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 454 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 38:8b597ab8344f 455 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 456
Jellehierck 38:8b597ab8344f 457 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { // Operation mode
Jellehierck 38:8b597ab8344f 458 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 459 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 460 emg_curr_state = emg_operation; // Set next state
Jellehierck 38:8b597ab8344f 461 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 462 }
Jellehierck 38:8b597ab8344f 463 }
Jellehierck 38:8b597ab8344f 464
Jellehierck 38:8b597ab8344f 465 // EMG Calibration state
Jellehierck 38:8b597ab8344f 466 void do_emg_cal()
Jellehierck 38:8b597ab8344f 467 {
Jellehierck 38:8b597ab8344f 468 // Entry functions
Jellehierck 38:8b597ab8344f 469 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 470 emg_state_changed = false; // Disable entry functions
Jellehierck 51:7fe2659a1fcb 471 set_led_color('b'); // Turn on calibration led (BLUE)
Jellehierck 38:8b597ab8344f 472
Jellehierck 38:8b597ab8344f 473 timerCalibration.reset();
Jellehierck 38:8b597ab8344f 474 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 38:8b597ab8344f 475 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 476 emg_calibrateNow = true; // Enable calibration vector functionality in sampleSignals()
Jellehierck 38:8b597ab8344f 477
Jellehierck 38:8b597ab8344f 478 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 38:8b597ab8344f 479 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 480 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 45:d09040915cfe 481 emg4_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 482 }
Jellehierck 38:8b597ab8344f 483
Jellehierck 38:8b597ab8344f 484 // Do stuff until end condition is met
Jellehierck 38:8b597ab8344f 485 // Set HIDScope outputs
Jellehierck 38:8b597ab8344f 486 scope.set(0, emg1 );
Jellehierck 45:d09040915cfe 487 scope.set(1, emg2 );
Jellehierck 45:d09040915cfe 488 scope.set(2, emg3 );
Jellehierck 45:d09040915cfe 489 scope.set(3, emg4 );
Jellehierck 38:8b597ab8344f 490 //scope.set(2, emg2_env );
Jellehierck 38:8b597ab8344f 491 //scope.set(3, emg3_env );
Jellehierck 38:8b597ab8344f 492 scope.send();
Jellehierck 38:8b597ab8344f 493
Jellehierck 38:8b597ab8344f 494 // State transition guard
Jellehierck 38:8b597ab8344f 495 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 38:8b597ab8344f 496 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 497 emg_calibrateNow = false; // Disable calibration sampling
Jellehierck 51:7fe2659a1fcb 498 set_led_color('o'); // Turn off calibration led (BLUE)
Jellehierck 38:8b597ab8344f 499
Jellehierck 38:8b597ab8344f 500 // Extract EMG scale data from calibration
Jellehierck 38:8b597ab8344f 501 switch( emg_curr_state ) {
Jellehierck 39:f9042483b921 502 case emg_cal_MVC: // In case of MVC calibration
Jellehierck 38:8b597ab8344f 503 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 38:8b597ab8344f 504 emg2_MVC = getMax(emg2_cal);
Jellehierck 38:8b597ab8344f 505 emg3_MVC = getMax(emg3_cal);
Jellehierck 45:d09040915cfe 506 emg4_MVC = getMax(emg4_cal);
Jellehierck 38:8b597ab8344f 507 emg_MVC_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 508 break;
Jellehierck 39:f9042483b921 509 case emg_cal_rest: // In case of rest calibration
Jellehierck 38:8b597ab8344f 510 emg1_rest = getMean(emg1_cal); // Store mean of EMG in rest globally
Jellehierck 38:8b597ab8344f 511 emg2_rest = getMean(emg2_cal);
Jellehierck 38:8b597ab8344f 512 emg3_rest = getMean(emg3_cal);
Jellehierck 45:d09040915cfe 513 emg4_rest = getMean(emg4_cal);
Jellehierck 38:8b597ab8344f 514 emg_rest_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 515 break;
Jellehierck 38:8b597ab8344f 516 }
Jellehierck 38:8b597ab8344f 517 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 38:8b597ab8344f 518 vector<double>().swap(emg2_cal);
Jellehierck 38:8b597ab8344f 519 vector<double>().swap(emg3_cal);
Jellehierck 51:7fe2659a1fcb 520 vector<double>().swap(emg4_cal);
Jellehierck 38:8b597ab8344f 521
Jellehierck 38:8b597ab8344f 522 emg_curr_state = emg_wait; // Set next substate
Jellehierck 38:8b597ab8344f 523 emg_state_changed = true; // Enable substate entry function
Jellehierck 38:8b597ab8344f 524 }
Jellehierck 38:8b597ab8344f 525 }
Jellehierck 38:8b597ab8344f 526
Jellehierck 38:8b597ab8344f 527 // EMG Operation state
Jellehierck 38:8b597ab8344f 528 void do_emg_operation()
Jellehierck 38:8b597ab8344f 529 {
Jellehierck 38:8b597ab8344f 530 // Entry function
Jellehierck 38:8b597ab8344f 531 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 532 emg_state_changed = false; // Disable entry functions
Jellehierck 40:c6dffb676350 533
Jellehierck 39:f9042483b921 534 // Compute scale factors for all EMG signals
Jellehierck 38:8b597ab8344f 535 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 38:8b597ab8344f 536 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 537 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 538 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 539 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 540 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 541 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 45:d09040915cfe 542 emg4_factor = 1 / emg4_MVC; // Factor to normalize MVC
Jellehierck 45:d09040915cfe 543 emg4_th = emg4_rest * emg4_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 544 }
Jellehierck 40:c6dffb676350 545
Jellehierck 39:f9042483b921 546 // This state only runs its entry functions ONCE and then exits the EMG substate machine
Jellehierck 38:8b597ab8344f 547
Jellehierck 38:8b597ab8344f 548 // State transition guard
Jellehierck 41:8e8141f355af 549 if ( true ) { // EMG substate machine is terminated directly after running this state once
Jellehierck 38:8b597ab8344f 550 emg_curr_state = emg_wait; // Set next state
Jellehierck 38:8b597ab8344f 551 emg_state_changed = true; // Enable entry function
Jellehierck 41:8e8141f355af 552 emg_cal_done = true; // Let the global substate machine know that EMG calibration is finished
Jellehierck 42:2937ad8f1032 553
Jellehierck 41:8e8141f355af 554 // Enable buttons again
Jellehierck 41:8e8141f355af 555 button1.fall( &button1Press );
Jellehierck 41:8e8141f355af 556 button2.fall( &button2Press );
Jellehierck 38:8b597ab8344f 557 }
Jellehierck 38:8b597ab8344f 558 }
Jellehierck 38:8b597ab8344f 559
Jellehierck 42:2937ad8f1032 560
Jellehierck 42:2937ad8f1032 561
Jellehierck 42:2937ad8f1032 562 /*
Jellehierck 42:2937ad8f1032 563 ------------------------------ MOTOR GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 42:2937ad8f1032 564 */
Jellehierck 42:2937ad8f1032 565 // Initialize encoder
Jellehierck 42:2937ad8f1032 566 int encoder_res = 64;
Jellehierck 42:2937ad8f1032 567
Jellehierck 42:2937ad8f1032 568 QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1
BasB 47:63b5ccd969e9 569 QEI encoder2(D12, D13, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2
Jellehierck 42:2937ad8f1032 570
Jellehierck 42:2937ad8f1032 571 // Initialize variables for encoder reading
Jellehierck 42:2937ad8f1032 572 volatile int counts1;
Jellehierck 42:2937ad8f1032 573 volatile int counts1af;
Jellehierck 42:2937ad8f1032 574 int counts1offset;
Jellehierck 42:2937ad8f1032 575 volatile int countsPrev1 = 0;
Jellehierck 42:2937ad8f1032 576 volatile int deltaCounts1;
Jellehierck 42:2937ad8f1032 577
Jellehierck 42:2937ad8f1032 578 volatile int counts2;
Jellehierck 42:2937ad8f1032 579 volatile int counts2af;
Jellehierck 42:2937ad8f1032 580 int counts2offset;
Jellehierck 42:2937ad8f1032 581 volatile int countsPrev2 = 0;
Jellehierck 42:2937ad8f1032 582 volatile int deltaCounts2;
Jellehierck 42:2937ad8f1032 583
Jellehierck 42:2937ad8f1032 584 // PWM period
Jellehierck 42:2937ad8f1032 585 const float PWM_period = 1/(18*10e3); // 18000 Hz
Jellehierck 42:2937ad8f1032 586
Jellehierck 42:2937ad8f1032 587 // Important constants
BasB 48:31676da4be7a 588 const float pi = 3.141592; // pi
BasB 48:31676da4be7a 589 const float pi2 = pi * 2.0f; // 2 pi
BasB 48:31676da4be7a 590 const float deg2rad = pi / 180.0f; //Conversion factor degree to rad
BasB 48:31676da4be7a 591 const float rad2deg = 180.0f / pi; //Conversion factor rad to degree
BasB 48:31676da4be7a 592 const float gearratio1 = 110.0f / 20.0f; // Teeth of large gear : teeth of driven gear
BasB 48:31676da4be7a 593 const float gearratio2 = 55.0f / 20.0f; // Teeth of small gear : teeth of driven gear
BasB 48:31676da4be7a 594 const float encoder_factorin = pi2 / encoder_res; // Convert encoder counts to angle in rad
Jellehierck 42:2937ad8f1032 595 const float gearbox_ratio = 131.25; // Gear ratio of motor gearboxes
Jellehierck 42:2937ad8f1032 596
Jellehierck 42:2937ad8f1032 597 // Kinematics variables
Jellehierck 42:2937ad8f1032 598 const float l1 = 26.0; // Distance base-joint2 [cm]
Jellehierck 42:2937ad8f1032 599 const float l2 = 62.0; // Distance join2-endpoint [cm]
Jellehierck 42:2937ad8f1032 600
BasB 48:31676da4be7a 601 float q1 = -10.0f * deg2rad; // Angle of first joint [rad] (starts off in reference position)
Jellehierck 42:2937ad8f1032 602 float q1dot; // Velocity of first joint [rad/s]
Jellehierck 42:2937ad8f1032 603
BasB 48:31676da4be7a 604 float q2 = -140.0f * deg2rad;
Jellehierck 42:2937ad8f1032 605 float q2dot;
Jellehierck 42:2937ad8f1032 606
Jellehierck 42:2937ad8f1032 607 float Vx = 0.0; // Desired linear velocity x direction
Jellehierck 42:2937ad8f1032 608 float Vy = 0.0; // Desired linear velocity y direction
Jellehierck 42:2937ad8f1032 609
Jellehierck 42:2937ad8f1032 610 float xe; // Endpoint x position [cm]
Jellehierck 42:2937ad8f1032 611 float ye; // Endpoint y position [cm]
Jellehierck 42:2937ad8f1032 612
Jellehierck 42:2937ad8f1032 613 // Motor angles in starting position
BasB 47:63b5ccd969e9 614 const float motor1_init = ( q1 + q2 ) * gearratio1; // Measured angle motor 1 in initial (starting) position
Jellehierck 42:2937ad8f1032 615 float motor1_ref = motor1_init; // Expected motor angle
Jellehierck 42:2937ad8f1032 616 float motor1_angle = motor1_init; // Actual motor angle
Jellehierck 42:2937ad8f1032 617
BasB 47:63b5ccd969e9 618 const float motor2_init = q1 * gearratio2; // Measured angle motor 2 in initial (starting) position
Jellehierck 42:2937ad8f1032 619 float motor2_ref = motor2_init;
Jellehierck 42:2937ad8f1032 620 float motor2_angle = motor2_init;
Jellehierck 42:2937ad8f1032 621
Jellehierck 42:2937ad8f1032 622 // Initialize variables for motor control
Jellehierck 42:2937ad8f1032 623 float motor1offset; // Offset during calibration
Jellehierck 42:2937ad8f1032 624 float omega1; //velocity (rad/s)
Jellehierck 42:2937ad8f1032 625 bool motordir1; // Toggle of motor direction
Jellehierck 42:2937ad8f1032 626 double controlsignal1; // ??
Jellehierck 42:2937ad8f1032 627 float motor1_error; // Error between encoder and reference
Jellehierck 42:2937ad8f1032 628
Jellehierck 42:2937ad8f1032 629 float motor2offset;
Jellehierck 42:2937ad8f1032 630 float omega2;
Jellehierck 42:2937ad8f1032 631 bool motordir2;
Jellehierck 42:2937ad8f1032 632 double controlsignal2;
BasB 47:63b5ccd969e9 633 float motor2_error;
Jellehierck 42:2937ad8f1032 634
Jellehierck 42:2937ad8f1032 635 // Initialize variables for PID controller
Jellehierck 42:2937ad8f1032 636 float Kp = 0.27; // Proportional gain
Jellehierck 42:2937ad8f1032 637 float Ki = 0.35; // Integral gain
Jellehierck 42:2937ad8f1032 638 float Kd = 0.1; // Derivative gain
Jellehierck 42:2937ad8f1032 639 float Ka = 1.0;
Jellehierck 42:2937ad8f1032 640
Jellehierck 42:2937ad8f1032 641 float u_p1; //
Jellehierck 42:2937ad8f1032 642 float u_i1; //
Jellehierck 42:2937ad8f1032 643 float ux1; //
Jellehierck 42:2937ad8f1032 644 float up1; // Proportional contribution
Jellehierck 42:2937ad8f1032 645 float ek1; //
Jellehierck 42:2937ad8f1032 646 float ei1 = 0.0; // Integral error (starts at 0)
Jellehierck 42:2937ad8f1032 647
Jellehierck 42:2937ad8f1032 648 float u_p2;
Jellehierck 42:2937ad8f1032 649 float u_i2;
Jellehierck 42:2937ad8f1032 650 float ux2;
Jellehierck 42:2937ad8f1032 651 float up2;
Jellehierck 42:2937ad8f1032 652 float ek2;
Jellehierck 42:2937ad8f1032 653 float ei2 = 0.0;
Jellehierck 42:2937ad8f1032 654
Jellehierck 42:2937ad8f1032 655 /*
Jellehierck 42:2937ad8f1032 656 ------------------------------ MOTOR FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 657 */
Jellehierck 42:2937ad8f1032 658 void PID_controller()
Jellehierck 42:2937ad8f1032 659 {
Jellehierck 42:2937ad8f1032 660 // Motor 1
BasB 48:31676da4be7a 661 static float error_integral1 = 0.0;
Jellehierck 42:2937ad8f1032 662 static float e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 663
Jellehierck 42:2937ad8f1032 664 //Proportional part
Jellehierck 42:2937ad8f1032 665 u_p1 = Kp * motor1_error;
Jellehierck 42:2937ad8f1032 666
Jellehierck 42:2937ad8f1032 667 //Integral part
Jellehierck 42:2937ad8f1032 668 error_integral1 = error_integral1 + ei1 * Ts;
Jellehierck 42:2937ad8f1032 669 u_i1 = Ki * error_integral1;
Jellehierck 42:2937ad8f1032 670
Jellehierck 42:2937ad8f1032 671 //Derivative part
Jellehierck 42:2937ad8f1032 672 float error_derivative1 = (motor1_error - e_prev1) / Ts;
Jellehierck 42:2937ad8f1032 673 float u_d1 = Kd * error_derivative1;
Jellehierck 42:2937ad8f1032 674 e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 675
Jellehierck 42:2937ad8f1032 676 // Sum and limit
Jellehierck 42:2937ad8f1032 677 up1 = u_p1 + u_i1 + u_d1;
BasB 48:31676da4be7a 678 if ( up1 > 1.0f ) {
BasB 48:31676da4be7a 679 controlsignal1 = 1.0f;
BasB 48:31676da4be7a 680 } else if ( up1 < -1.0f ) {
BasB 48:31676da4be7a 681 controlsignal1 = -1.0f;
Jellehierck 42:2937ad8f1032 682 } else {
Jellehierck 42:2937ad8f1032 683 controlsignal1 = up1;
Jellehierck 42:2937ad8f1032 684 }
Jellehierck 42:2937ad8f1032 685
Jellehierck 42:2937ad8f1032 686 // To prevent windup
Jellehierck 42:2937ad8f1032 687 ux1 = up1 - controlsignal1;
Jellehierck 42:2937ad8f1032 688 ek1 = Ka * ux1;
Jellehierck 42:2937ad8f1032 689 ei1 = motor1_error - ek1;
Jellehierck 42:2937ad8f1032 690
Jellehierck 42:2937ad8f1032 691 // Motor 2
BasB 48:31676da4be7a 692 static float error_integral2 = 0.0;
BasB 47:63b5ccd969e9 693 static float e_prev2 = motor2_error;
Jellehierck 42:2937ad8f1032 694
Jellehierck 42:2937ad8f1032 695 //Proportional part:
BasB 47:63b5ccd969e9 696 u_p2 = Kp * motor2_error;
Jellehierck 42:2937ad8f1032 697
Jellehierck 42:2937ad8f1032 698 //Integral part
Jellehierck 42:2937ad8f1032 699 error_integral2 = error_integral2 + ei2 * Ts;
Jellehierck 42:2937ad8f1032 700 u_i2 = Ki * error_integral2;
Jellehierck 42:2937ad8f1032 701
Jellehierck 42:2937ad8f1032 702 //Derivative part
BasB 47:63b5ccd969e9 703 float error_derivative2 = (motor2_error - e_prev2) / Ts;
Jellehierck 42:2937ad8f1032 704 float u_d2 = Kd * error_derivative2;
BasB 47:63b5ccd969e9 705 e_prev2 = motor2_error;
Jellehierck 42:2937ad8f1032 706
Jellehierck 42:2937ad8f1032 707 // Sum and limit
Jellehierck 42:2937ad8f1032 708 up2 = u_p2 + u_i2 + u_d2;
Jellehierck 42:2937ad8f1032 709 if ( up2 > 1.0f ) {
Jellehierck 42:2937ad8f1032 710 controlsignal2 = 1.0f;
BasB 48:31676da4be7a 711 } else if ( up2 < -1.0f ) {
Jellehierck 42:2937ad8f1032 712 controlsignal2 = -1.0f;
Jellehierck 42:2937ad8f1032 713 } else {
Jellehierck 42:2937ad8f1032 714 controlsignal2 = up2;
Jellehierck 42:2937ad8f1032 715 }
Jellehierck 42:2937ad8f1032 716
Jellehierck 42:2937ad8f1032 717 // To prevent windup
Jellehierck 42:2937ad8f1032 718 ux2 = up2 - controlsignal2;
Jellehierck 42:2937ad8f1032 719 ek2 = Ka * ux2;
BasB 47:63b5ccd969e9 720 ei2 = motor2_error - ek2;
Jellehierck 42:2937ad8f1032 721 }
Jellehierck 42:2937ad8f1032 722
Jellehierck 42:2937ad8f1032 723 void RKI()
Jellehierck 42:2937ad8f1032 724 {
Jellehierck 42:2937ad8f1032 725 // Derived function for angular velocity of joint angles
Jellehierck 42:2937ad8f1032 726 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 727 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 728 q1 = q1 + q1dot * Ts;
Jellehierck 42:2937ad8f1032 729 q2 = q2 + q2dot * Ts;
Jellehierck 42:2937ad8f1032 730
Jellehierck 42:2937ad8f1032 731 xe = l1 * cos(q1) + l2 * cos(q1+q2);
Jellehierck 42:2937ad8f1032 732 ye = l1 * sin(q1) + l2 * sin(q1+q2);
Jellehierck 42:2937ad8f1032 733
BasB 47:63b5ccd969e9 734 if ( q1 < -5.0f * deg2rad) {
BasB 48:31676da4be7a 735 q1 = -5.0f * deg2rad;
Jellehierck 53:35282a3e0cad 736 } else if ( q1 > 65.0f * deg2rad ) {
Jellehierck 42:2937ad8f1032 737 q1 = 65.0f * deg2rad;
Jellehierck 42:2937ad8f1032 738 } else {
Jellehierck 42:2937ad8f1032 739 q1 = q1;
Jellehierck 42:2937ad8f1032 740 }
Jellehierck 42:2937ad8f1032 741
Jellehierck 53:35282a3e0cad 742 if ( q2 > -50.0f * deg2rad ) {
BasB 48:31676da4be7a 743 q2 = -50.0f * deg2rad;
Jellehierck 53:35282a3e0cad 744 } else if ( q2 < -138.0f * deg2rad ) {
BasB 48:31676da4be7a 745 q2 = -138.0f * deg2rad;
Jellehierck 42:2937ad8f1032 746 } else {
Jellehierck 42:2937ad8f1032 747 q2 = q2;
Jellehierck 42:2937ad8f1032 748 }
Jellehierck 42:2937ad8f1032 749
Jellehierck 42:2937ad8f1032 750 motor1_ref = 5.5f * q1 + 5.5f * q2;
Jellehierck 42:2937ad8f1032 751 motor2_ref = 2.75f * q1;
Jellehierck 42:2937ad8f1032 752 }
Jellehierck 42:2937ad8f1032 753
Jellehierck 42:2937ad8f1032 754 void motorControl()
Jellehierck 42:2937ad8f1032 755 {
Jellehierck 42:2937ad8f1032 756 counts1 = counts1af - counts1offset;
BasB 47:63b5ccd969e9 757 motor1_angle = (counts1 * encoder_factorin / gearbox_ratio) + motor1_init; // Angle of motor shaft in rad + correctie voor q1 en q2
Jellehierck 42:2937ad8f1032 758 omega1 = deltaCounts1 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
Jellehierck 42:2937ad8f1032 759 motor1_error = motor1_ref - motor1_angle;
BasB 48:31676da4be7a 760 if ( controlsignal1 < 0.0f ) {
Jellehierck 42:2937ad8f1032 761 motordir1 = 0;
Jellehierck 42:2937ad8f1032 762 } else {
Jellehierck 42:2937ad8f1032 763 motordir1 = 1;
Jellehierck 42:2937ad8f1032 764 }
Jellehierck 42:2937ad8f1032 765
Jellehierck 42:2937ad8f1032 766 motor1Power.write(abs(controlsignal1));
Jellehierck 42:2937ad8f1032 767 motor1Direction = motordir1;
Jellehierck 42:2937ad8f1032 768
Jellehierck 42:2937ad8f1032 769 counts2 = counts2af - counts2offset;
BasB 47:63b5ccd969e9 770 motor2_angle = (counts2 * encoder_factorin / gearbox_ratio) + motor2_init; // Angle of motor shaft in rad + correctie voor q1
Jellehierck 42:2937ad8f1032 771 omega2 = deltaCounts2 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
BasB 47:63b5ccd969e9 772 motor2_error = motor2_ref-motor2_angle;
BasB 48:31676da4be7a 773 if ( controlsignal2 < 0.0f ) {
Jellehierck 42:2937ad8f1032 774 motordir2 = 0;
Jellehierck 42:2937ad8f1032 775 } else {
Jellehierck 42:2937ad8f1032 776 motordir2 = 1;
Jellehierck 42:2937ad8f1032 777 }
Jellehierck 42:2937ad8f1032 778 if (motor_encoder_cal_done == true) {
Jellehierck 42:2937ad8f1032 779 motor2Power.write(abs(controlsignal2));
Jellehierck 42:2937ad8f1032 780 }
Jellehierck 42:2937ad8f1032 781 motor2Direction = motordir2;
Jellehierck 42:2937ad8f1032 782 }
Jellehierck 42:2937ad8f1032 783
BasB 47:63b5ccd969e9 784 void changeservo()
Jellehierck 51:7fe2659a1fcb 785 {
Jellehierck 53:35282a3e0cad 786 servo_button1= extButton1.read();
Jellehierck 53:35282a3e0cad 787 if (servo_button1 == 1) {
Jellehierck 51:7fe2659a1fcb 788 myservo.SetPosition(2000);
Jellehierck 51:7fe2659a1fcb 789 } else {
Jellehierck 51:7fe2659a1fcb 790 myservo.SetPosition(1000);
BasB 47:63b5ccd969e9 791 }
BasB 47:63b5ccd969e9 792 }
BasB 47:63b5ccd969e9 793
Jellehierck 42:2937ad8f1032 794 void motorKillPower()
Jellehierck 42:2937ad8f1032 795 {
Jellehierck 42:2937ad8f1032 796 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 797 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 798 Vx=0.0f;
Jellehierck 42:2937ad8f1032 799 Vy=0.0f;
Jellehierck 42:2937ad8f1032 800 }
Jellehierck 42:2937ad8f1032 801
Jellehierck 42:2937ad8f1032 802 /*
Jellehierck 42:2937ad8f1032 803 ------------------------------ MOTOR SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 804 */
Jellehierck 42:2937ad8f1032 805 void do_motor_encoder_set()
Jellehierck 42:2937ad8f1032 806 {
Jellehierck 42:2937ad8f1032 807 // Entry function
Jellehierck 42:2937ad8f1032 808 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 809 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 810 // More functions
Jellehierck 42:2937ad8f1032 811 }
Jellehierck 42:2937ad8f1032 812 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 813 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 814 counts1offset = counts1af ;
Jellehierck 42:2937ad8f1032 815 counts2offset = counts2af;
Jellehierck 42:2937ad8f1032 816
Jellehierck 42:2937ad8f1032 817 // State transition guard
Jellehierck 42:2937ad8f1032 818 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 819 button2_pressed = false;
Jellehierck 42:2937ad8f1032 820 motor_encoder_cal_done = true;
Jellehierck 42:2937ad8f1032 821 motor_curr_state = motor_finish;
Jellehierck 42:2937ad8f1032 822 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 823 }
Jellehierck 42:2937ad8f1032 824 }
Jellehierck 42:2937ad8f1032 825
Jellehierck 42:2937ad8f1032 826 void do_motor_finish()
Jellehierck 42:2937ad8f1032 827 {
Jellehierck 42:2937ad8f1032 828 // Entry function
Jellehierck 42:2937ad8f1032 829 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 830 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 831 }
Jellehierck 42:2937ad8f1032 832
Jellehierck 42:2937ad8f1032 833 // Do stuff until end condition is true
Jellehierck 42:2937ad8f1032 834 PID_controller();
Jellehierck 42:2937ad8f1032 835 motorControl();
Jellehierck 42:2937ad8f1032 836 RKI();
Jellehierck 42:2937ad8f1032 837
Jellehierck 42:2937ad8f1032 838 // State transition guard
Jellehierck 42:2937ad8f1032 839 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 840 button2_pressed = false;
Jellehierck 42:2937ad8f1032 841 motor_cal_done = true;
Jellehierck 51:7fe2659a1fcb 842 motor_curr_state = motor_encoder_set;
Jellehierck 42:2937ad8f1032 843 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 844 }
Jellehierck 42:2937ad8f1032 845 }
Jellehierck 42:2937ad8f1032 846
Jellehierck 42:2937ad8f1032 847 /*
Jellehierck 42:2937ad8f1032 848 ------------------------------ OPERATION GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 42:2937ad8f1032 849 */
Jellehierck 42:2937ad8f1032 850
Jellehierck 42:2937ad8f1032 851 /*
Jellehierck 42:2937ad8f1032 852 ------------------------------ OPERATION GLOBAL FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 853 */
Jellehierck 42:2937ad8f1032 854 void toggleServo()
Jellehierck 42:2937ad8f1032 855 {
Jellehierck 42:2937ad8f1032 856 if ( operation_showcard == true ) {
BasB 47:63b5ccd969e9 857 myservo.SetPosition(2000);
Jellehierck 42:2937ad8f1032 858 operation_showcard = !operation_showcard;
Jellehierck 42:2937ad8f1032 859 }
Jellehierck 42:2937ad8f1032 860
Jellehierck 42:2937ad8f1032 861 else {
BasB 47:63b5ccd969e9 862 myservo.SetPosition(1000);
Jellehierck 42:2937ad8f1032 863 operation_showcard = !operation_showcard;
Jellehierck 42:2937ad8f1032 864 }
Jellehierck 42:2937ad8f1032 865 }
Jellehierck 42:2937ad8f1032 866
Jellehierck 42:2937ad8f1032 867
Jellehierck 42:2937ad8f1032 868 /*
Jellehierck 42:2937ad8f1032 869 ------------------------------ OPERATION SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 870 */
Jellehierck 42:2937ad8f1032 871 void do_operation_wait()
Jellehierck 42:2937ad8f1032 872 {
Jellehierck 42:2937ad8f1032 873 // Entry function
Jellehierck 42:2937ad8f1032 874 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 875 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 876 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 877 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 878 }
Jellehierck 42:2937ad8f1032 879
Jellehierck 42:2937ad8f1032 880 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 881 EMGOperationFunc();
Jellehierck 44:342af9b3c1a0 882
Jellehierck 53:35282a3e0cad 883 Vx = emg1_out * (10.0 + 10.0 * potmeter1.read() ) * emg1_dir;
Jellehierck 53:35282a3e0cad 884 Vy = emg2_out * (10.0 + 10.0 * potmeter2.read() ) * emg2_dir;
Jellehierck 44:342af9b3c1a0 885
Jellehierck 43:1bd5417ded64 886 PID_controller();
Jellehierck 43:1bd5417ded64 887 motorControl();
Jellehierck 43:1bd5417ded64 888 RKI();
Jellehierck 44:342af9b3c1a0 889
Jellehierck 42:2937ad8f1032 890 motorKillPower(); // Disables motor outputs
Jellehierck 44:342af9b3c1a0 891
Jellehierck 42:2937ad8f1032 892 if ( switch2_pressed == true) {
Jellehierck 42:2937ad8f1032 893 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 894 toggleServo();
Jellehierck 42:2937ad8f1032 895 }
Jellehierck 42:2937ad8f1032 896
Jellehierck 42:2937ad8f1032 897 // State transition guard
Jellehierck 45:d09040915cfe 898 if ( button1_pressed == true ) {
Jellehierck 45:d09040915cfe 899 button1_pressed = false;
Jellehierck 42:2937ad8f1032 900 operation_curr_state = operation_movement;
Jellehierck 42:2937ad8f1032 901 operation_state_changed = true;
Jellehierck 45:d09040915cfe 902 } else if ( button2_pressed == true ) {
Jellehierck 45:d09040915cfe 903 button2_pressed = false;
Jellehierck 45:d09040915cfe 904 //operation_curr_state = operation_finish; // To move to finished operation mode (not used yet)
Jellehierck 45:d09040915cfe 905 operation_curr_state = operation_wait; // TEMPORARY
Jellehierck 45:d09040915cfe 906 operation_state_changed = true;
Jellehierck 45:d09040915cfe 907 global_curr_state = global_wait; // TEMPORARY move directly to global wait state
Jellehierck 45:d09040915cfe 908 global_state_changed = true; // TEMPORARY move directly to global wait state
Jellehierck 42:2937ad8f1032 909 }
Jellehierck 42:2937ad8f1032 910 }
Jellehierck 42:2937ad8f1032 911
Jellehierck 42:2937ad8f1032 912 void do_operation_movement()
Jellehierck 42:2937ad8f1032 913 {
Jellehierck 42:2937ad8f1032 914 // Entry function
Jellehierck 42:2937ad8f1032 915 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 916 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 917 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 918 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 919 }
Jellehierck 42:2937ad8f1032 920
Jellehierck 42:2937ad8f1032 921 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 922 EMGOperationFunc();
Jellehierck 44:342af9b3c1a0 923
Jellehierck 53:35282a3e0cad 924 Vx = emg1_out * (10.0 + 10.0 * potmeter1.read() ) * emg1_dir;
Jellehierck 53:35282a3e0cad 925 Vy = emg2_out * (10.0 + 10.0 * potmeter2.read() ) * emg2_dir;
Jellehierck 44:342af9b3c1a0 926
Jellehierck 43:1bd5417ded64 927 PID_controller();
Jellehierck 43:1bd5417ded64 928 motorControl();
Jellehierck 43:1bd5417ded64 929 RKI();
Jellehierck 44:342af9b3c1a0 930
Jellehierck 42:2937ad8f1032 931 if ( switch2_pressed == true) {
Jellehierck 42:2937ad8f1032 932 switch2_pressed = false;
Jellehierck 42:2937ad8f1032 933 toggleServo();
Jellehierck 42:2937ad8f1032 934 }
Jellehierck 42:2937ad8f1032 935
Jellehierck 42:2937ad8f1032 936 // State transition guard
Jellehierck 45:d09040915cfe 937 if ( button1_pressed == true ) {
Jellehierck 45:d09040915cfe 938 button1_pressed = false;
Jellehierck 42:2937ad8f1032 939 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 940 operation_state_changed = true;
Jellehierck 45:d09040915cfe 941 } else if ( button2_pressed == true ) {
Jellehierck 45:d09040915cfe 942 button2_pressed = false;
Jellehierck 42:2937ad8f1032 943 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 944 operation_state_changed = true;
Jellehierck 51:7fe2659a1fcb 945 exit_operation = true;
Jellehierck 42:2937ad8f1032 946 }
Jellehierck 42:2937ad8f1032 947 }
Jellehierck 42:2937ad8f1032 948
Jellehierck 38:8b597ab8344f 949 /*
Jellehierck 38:8b597ab8344f 950 ------------------------------ EMG SUBSTATE MACHINE ------------------------------
Jellehierck 38:8b597ab8344f 951 */
Jellehierck 38:8b597ab8344f 952
Jellehierck 38:8b597ab8344f 953 void emg_state_machine()
Jellehierck 38:8b597ab8344f 954 {
Jellehierck 38:8b597ab8344f 955 switch(emg_curr_state) {
Jellehierck 38:8b597ab8344f 956 case emg_wait:
Jellehierck 38:8b597ab8344f 957 do_emg_wait();
Jellehierck 38:8b597ab8344f 958 break;
Jellehierck 38:8b597ab8344f 959 case emg_cal_MVC:
Jellehierck 38:8b597ab8344f 960 do_emg_cal();
Jellehierck 38:8b597ab8344f 961 break;
Jellehierck 38:8b597ab8344f 962 case emg_cal_rest:
Jellehierck 38:8b597ab8344f 963 do_emg_cal();
Jellehierck 38:8b597ab8344f 964 break;
Jellehierck 38:8b597ab8344f 965 case emg_operation:
Jellehierck 38:8b597ab8344f 966 do_emg_operation();
Jellehierck 38:8b597ab8344f 967 break;
Jellehierck 38:8b597ab8344f 968 }
Jellehierck 38:8b597ab8344f 969 }
Jellehierck 7:7a088536f1c9 970
Jellehierck 15:421d3d9c563b 971 /*
Jellehierck 40:c6dffb676350 972 ------------------------------ MOTOR SUBSTATE MACHINE ------------------------------
Jellehierck 40:c6dffb676350 973 */
Jellehierck 40:c6dffb676350 974
Jellehierck 40:c6dffb676350 975 void motor_state_machine()
Jellehierck 40:c6dffb676350 976 {
Jellehierck 40:c6dffb676350 977 switch(motor_curr_state) {
Jellehierck 42:2937ad8f1032 978 case motor_encoder_set:
Jellehierck 42:2937ad8f1032 979 do_motor_encoder_set();
Jellehierck 40:c6dffb676350 980 break;
Jellehierck 40:c6dffb676350 981 case motor_finish:
Jellehierck 40:c6dffb676350 982 do_motor_finish();
Jellehierck 40:c6dffb676350 983 break;
Jellehierck 40:c6dffb676350 984 }
Jellehierck 40:c6dffb676350 985 }
Jellehierck 40:c6dffb676350 986
Jellehierck 40:c6dffb676350 987 /*
Jellehierck 42:2937ad8f1032 988 ------------------------------ OPERATION SUBSTATE MACHINE ------------------------------
Jellehierck 42:2937ad8f1032 989 */
Jellehierck 42:2937ad8f1032 990
Jellehierck 42:2937ad8f1032 991 void operation_state_machine()
Jellehierck 42:2937ad8f1032 992 {
Jellehierck 42:2937ad8f1032 993 switch(operation_curr_state) {
Jellehierck 42:2937ad8f1032 994 case operation_wait:
Jellehierck 42:2937ad8f1032 995 do_operation_wait();
Jellehierck 42:2937ad8f1032 996 break;
Jellehierck 42:2937ad8f1032 997 case operation_movement:
Jellehierck 42:2937ad8f1032 998 do_operation_movement();
Jellehierck 42:2937ad8f1032 999 break;
Jellehierck 42:2937ad8f1032 1000 }
Jellehierck 42:2937ad8f1032 1001 }
Jellehierck 42:2937ad8f1032 1002
Jellehierck 42:2937ad8f1032 1003 /*
Jellehierck 43:1bd5417ded64 1004 ------------------------------ DEMO SUBSTATE FUNCTIONS ------------------------------
Jellehierck 43:1bd5417ded64 1005 */
Jellehierck 44:342af9b3c1a0 1006 void do_demo_wait()
Jellehierck 44:342af9b3c1a0 1007 {
Jellehierck 43:1bd5417ded64 1008 // Entry function
Jellehierck 43:1bd5417ded64 1009 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 1010 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 1011 }
Jellehierck 43:1bd5417ded64 1012
Jellehierck 43:1bd5417ded64 1013 // Do nothing until end condition is met
Jellehierck 44:342af9b3c1a0 1014
Jellehierck 43:1bd5417ded64 1015 // State transition guard
Jellehierck 44:342af9b3c1a0 1016 if ( button1_pressed == true ) { // demo_XY
Jellehierck 43:1bd5417ded64 1017 button1_pressed = false;
Jellehierck 43:1bd5417ded64 1018 demo_curr_state = demo_XY;
Jellehierck 43:1bd5417ded64 1019 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1020 // More functions
Jellehierck 44:342af9b3c1a0 1021 } else if (button2_pressed == true) { // Return to global wait
Jellehierck 43:1bd5417ded64 1022 button2_pressed = false;
Jellehierck 43:1bd5417ded64 1023 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1024 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1025 motor_cal_done = false; // Disables motor calibration again (robot is probably not in reference position)
Jellehierck 43:1bd5417ded64 1026 global_curr_state = global_wait;
Jellehierck 43:1bd5417ded64 1027 global_state_changed = true;
Jellehierck 43:1bd5417ded64 1028 }
Jellehierck 43:1bd5417ded64 1029 }
Jellehierck 43:1bd5417ded64 1030
Jellehierck 44:342af9b3c1a0 1031 void do_demo_motor_cal()
Jellehierck 44:342af9b3c1a0 1032 {
Jellehierck 43:1bd5417ded64 1033 // Entry function
Jellehierck 43:1bd5417ded64 1034 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 1035 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 1036 }
Jellehierck 43:1bd5417ded64 1037
Jellehierck 43:1bd5417ded64 1038 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 1039 motor_state_machine();
Jellehierck 43:1bd5417ded64 1040
Jellehierck 43:1bd5417ded64 1041 // State transition guard
Jellehierck 44:342af9b3c1a0 1042 if ( motor_cal_done == true ) { // demo_wait
Jellehierck 43:1bd5417ded64 1043 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1044 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1045 }
Jellehierck 43:1bd5417ded64 1046 }
Jellehierck 43:1bd5417ded64 1047
Jellehierck 44:342af9b3c1a0 1048 void do_demo_XY()
Jellehierck 44:342af9b3c1a0 1049 {
Jellehierck 43:1bd5417ded64 1050 // Entry function
Jellehierck 43:1bd5417ded64 1051 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 1052 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 1053 }
Jellehierck 43:1bd5417ded64 1054
Jellehierck 43:1bd5417ded64 1055 // Do stuff until end condition is met
BasB 48:31676da4be7a 1056 static float t = 0.0;
Jellehierck 43:1bd5417ded64 1057 Vy = 10.0f * sin(1.0f*t);
Jellehierck 43:1bd5417ded64 1058 Vx = 0.0f;
Jellehierck 43:1bd5417ded64 1059 t += Ts;
Jellehierck 44:342af9b3c1a0 1060
Jellehierck 43:1bd5417ded64 1061 PID_controller();
Jellehierck 43:1bd5417ded64 1062 motorControl();
Jellehierck 43:1bd5417ded64 1063 RKI();
Jellehierck 43:1bd5417ded64 1064
Jellehierck 43:1bd5417ded64 1065 // State transition guard
Jellehierck 44:342af9b3c1a0 1066 if ( button1_pressed == true ) { // demo_wait
Jellehierck 44:342af9b3c1a0 1067 button1_pressed = false;
Jellehierck 43:1bd5417ded64 1068 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1069 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1070 }
Jellehierck 43:1bd5417ded64 1071 }
Jellehierck 43:1bd5417ded64 1072
Jellehierck 43:1bd5417ded64 1073 /*
Jellehierck 43:1bd5417ded64 1074 ------------------------------ DEMO SUBSTATE MACHINE ------------------------------
Jellehierck 43:1bd5417ded64 1075 */
Jellehierck 43:1bd5417ded64 1076
Jellehierck 43:1bd5417ded64 1077 void demo_state_machine()
Jellehierck 43:1bd5417ded64 1078 {
Jellehierck 43:1bd5417ded64 1079 switch(demo_curr_state) {
Jellehierck 43:1bd5417ded64 1080 case demo_wait:
Jellehierck 43:1bd5417ded64 1081 do_demo_wait();
Jellehierck 43:1bd5417ded64 1082 break;
Jellehierck 43:1bd5417ded64 1083 case demo_motor_cal:
Jellehierck 43:1bd5417ded64 1084 do_demo_motor_cal();
Jellehierck 43:1bd5417ded64 1085 break;
Jellehierck 43:1bd5417ded64 1086 case demo_XY:
Jellehierck 43:1bd5417ded64 1087 do_demo_XY();
Jellehierck 43:1bd5417ded64 1088 break;
Jellehierck 43:1bd5417ded64 1089 }
Jellehierck 43:1bd5417ded64 1090 }
Jellehierck 43:1bd5417ded64 1091
Jellehierck 43:1bd5417ded64 1092 /*
Jellehierck 37:806c7c8381a7 1093 ------------------------------ GLOBAL STATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 1094 */
Jellehierck 25:a1be4cf2ab0b 1095 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 1096 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 1097 // Entry function
Jellehierck 37:806c7c8381a7 1098 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1099 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1100 // More functions
Jellehierck 25:a1be4cf2ab0b 1101 }
Jellehierck 25:a1be4cf2ab0b 1102
Jellehierck 25:a1be4cf2ab0b 1103 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 1104 doStuff();
Jellehierck 25:a1be4cf2ab0b 1105
Jellehierck 25:a1be4cf2ab0b 1106 // State transition guard
Jellehierck 25:a1be4cf2ab0b 1107 if ( endCondition == true ) {
Jellehierck 37:806c7c8381a7 1108 global_curr_state = next_state;
Jellehierck 37:806c7c8381a7 1109 global_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 1110 // More functions
Jellehierck 25:a1be4cf2ab0b 1111 }
Jellehierck 25:a1be4cf2ab0b 1112 }
Jellehierck 25:a1be4cf2ab0b 1113 */
Jellehierck 25:a1be4cf2ab0b 1114
Jellehierck 37:806c7c8381a7 1115 // FAILURE MODE
Jellehierck 37:806c7c8381a7 1116 void do_global_failure()
Jellehierck 7:7a088536f1c9 1117 {
Jellehierck 37:806c7c8381a7 1118 // Entry function
Jellehierck 37:806c7c8381a7 1119 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1120 global_state_changed = false;
Jellehierck 52:fd35025574ca 1121 set_led_color('r'); // Set failure mode LED (RED)
Jellehierck 25:a1be4cf2ab0b 1122
Jellehierck 37:806c7c8381a7 1123 failure_mode = true; // Set failure mode
Jellehierck 22:9079c6c0d898 1124 }
Jellehierck 37:806c7c8381a7 1125
Jellehierck 37:806c7c8381a7 1126 // Do stuff until end condition is met
Jellehierck 42:2937ad8f1032 1127 motorKillPower();
Jellehierck 37:806c7c8381a7 1128
Jellehierck 37:806c7c8381a7 1129 // State transition guard
Jellehierck 37:806c7c8381a7 1130 if ( false ) { // Never move to other state
Jellehierck 37:806c7c8381a7 1131 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1132 global_state_changed = true;
Jellehierck 52:fd35025574ca 1133 set_led_color('o'); // Disable failure mode LED
Jellehierck 37:806c7c8381a7 1134 }
Jellehierck 25:a1be4cf2ab0b 1135 }
Jellehierck 25:a1be4cf2ab0b 1136
Jellehierck 37:806c7c8381a7 1137 // DEMO MODE
Jellehierck 37:806c7c8381a7 1138 void do_global_demo()
Jellehierck 25:a1be4cf2ab0b 1139 {
Jellehierck 25:a1be4cf2ab0b 1140 // Entry function
Jellehierck 37:806c7c8381a7 1141 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1142 global_state_changed = false;
Jellehierck 52:fd35025574ca 1143 set_led_color('y'); // Set demo mode LED (YELLOW)
Jellehierck 51:7fe2659a1fcb 1144
Jellehierck 49:80970a03083b 1145 if ( motor_cal_done == true ) {
Jellehierck 49:80970a03083b 1146 demo_curr_state = demo_wait;
Jellehierck 49:80970a03083b 1147 } else if (motor_cal_done == false ) {
Jellehierck 49:80970a03083b 1148 demo_curr_state = demo_motor_cal;
Jellehierck 49:80970a03083b 1149 }
Jellehierck 49:80970a03083b 1150 demo_state_changed = true;
Jellehierck 37:806c7c8381a7 1151 }
Jellehierck 37:806c7c8381a7 1152
Jellehierck 37:806c7c8381a7 1153 // Do stuff until end condition is met
Jellehierck 46:8a8fa8e602a1 1154 demo_state_machine();
Jellehierck 51:7fe2659a1fcb 1155
Jellehierck 46:8a8fa8e602a1 1156 scope.set(0, emg1 );
Jellehierck 46:8a8fa8e602a1 1157 scope.set(1, Vx );
Jellehierck 46:8a8fa8e602a1 1158 scope.set(2, emg2 );
Jellehierck 46:8a8fa8e602a1 1159 scope.set(3, Vy );
Jellehierck 35:e82834e62e44 1160
Jellehierck 37:806c7c8381a7 1161 // State transition guard
Jellehierck 37:806c7c8381a7 1162 if ( switch2_pressed == true ) {
Jellehierck 37:806c7c8381a7 1163 switch2_pressed = false;
Jellehierck 37:806c7c8381a7 1164 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1165 global_state_changed = true;
Jellehierck 52:fd35025574ca 1166 set_led_color('o'); // Disable demo mode LED
Jellehierck 37:806c7c8381a7 1167 }
Jellehierck 37:806c7c8381a7 1168 }
Jellehierck 37:806c7c8381a7 1169
Jellehierck 37:806c7c8381a7 1170 // WAIT MODE
Jellehierck 37:806c7c8381a7 1171 void do_global_wait()
Jellehierck 37:806c7c8381a7 1172 {
Jellehierck 37:806c7c8381a7 1173 // Entry function
Jellehierck 37:806c7c8381a7 1174 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1175 global_state_changed = false;
Jellehierck 52:fd35025574ca 1176 set_led_color('w'); // Set wait mode LED (WHITE)
Jellehierck 25:a1be4cf2ab0b 1177 }
Jellehierck 25:a1be4cf2ab0b 1178
Jellehierck 27:f18da01093c9 1179 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 1180
Jellehierck 37:806c7c8381a7 1181 // State transition guard
Jellehierck 37:806c7c8381a7 1182 if ( switch2_pressed == true ) { // DEMO MODE
Jellehierck 37:806c7c8381a7 1183 switch2_pressed = false;
Jellehierck 37:806c7c8381a7 1184 global_curr_state = global_demo;
Jellehierck 37:806c7c8381a7 1185 global_state_changed = true;
Jellehierck 52:fd35025574ca 1186 set_led_color('o'); // Disable wait mode LED
Jellehierck 31:b5188b6d45db 1187
Jellehierck 37:806c7c8381a7 1188 } else if ( button1_pressed == true ) { // EMG CALIBRATION
Jellehierck 37:806c7c8381a7 1189 button1_pressed = false;
Jellehierck 38:8b597ab8344f 1190 global_curr_state = global_emg_cal;
Jellehierck 37:806c7c8381a7 1191 global_state_changed = true;
Jellehierck 52:fd35025574ca 1192 set_led_color('o'); // Disable wait mode LED
Jellehierck 31:b5188b6d45db 1193
Jellehierck 37:806c7c8381a7 1194 } else if ( button2_pressed == true ) { // MOTOR CALIBRATION
Jellehierck 37:806c7c8381a7 1195 button2_pressed = false;
Jellehierck 38:8b597ab8344f 1196 global_curr_state = global_motor_cal;
Jellehierck 37:806c7c8381a7 1197 global_state_changed = true;
Jellehierck 52:fd35025574ca 1198 set_led_color('o'); // Disable wait mode LED
Jellehierck 42:2937ad8f1032 1199
Jellehierck 39:f9042483b921 1200 } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE
Jellehierck 39:f9042483b921 1201 global_curr_state = global_operation;
Jellehierck 39:f9042483b921 1202 global_state_changed = true;
Jellehierck 52:fd35025574ca 1203 set_led_color('o'); // Disable wait mode LED
Jellehierck 25:a1be4cf2ab0b 1204 }
Jellehierck 7:7a088536f1c9 1205 }
Jellehierck 7:7a088536f1c9 1206
Jellehierck 37:806c7c8381a7 1207 // EMG CALIBRATION MODE
Jellehierck 38:8b597ab8344f 1208 void do_global_emg_cal()
Jellehierck 21:e4569b47945e 1209 {
Jellehierck 37:806c7c8381a7 1210 // Entry function
Jellehierck 37:806c7c8381a7 1211 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1212 global_state_changed = false;
Jellehierck 51:7fe2659a1fcb 1213 set_led_color('p'); // Set EMG calibration LED (PURPLE)
Jellehierck 22:9079c6c0d898 1214 }
Jellehierck 7:7a088536f1c9 1215
Jellehierck 39:f9042483b921 1216 // Run EMG state machine until emg_cal_done flag is true
Jellehierck 39:f9042483b921 1217 emg_state_machine();
Jellehierck 31:b5188b6d45db 1218
Jellehierck 29:f51683a6cbbf 1219 // State transition guard
Jellehierck 39:f9042483b921 1220 if ( emg_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1221 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1222 global_state_changed = true;
Jellehierck 51:7fe2659a1fcb 1223 set_led_color('o'); // Disable EMG calibration LED
Jellehierck 25:a1be4cf2ab0b 1224 }
Jellehierck 25:a1be4cf2ab0b 1225 }
Jellehierck 23:8a0a0b959af1 1226
Jellehierck 37:806c7c8381a7 1227 // MOTOR CALIBRATION MODE
Jellehierck 38:8b597ab8344f 1228 void do_global_motor_cal()
Jellehierck 26:7e81c7db6e7a 1229 {
Jellehierck 25:a1be4cf2ab0b 1230 // Entry function
Jellehierck 37:806c7c8381a7 1231 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1232 global_state_changed = false;
Jellehierck 51:7fe2659a1fcb 1233 set_led_color('c'); // Set motor calibration LED (CYAN)
Jellehierck 25:a1be4cf2ab0b 1234 }
Jellehierck 25:a1be4cf2ab0b 1235
Jellehierck 25:a1be4cf2ab0b 1236 // Do stuff until end condition is met
Jellehierck 40:c6dffb676350 1237 motor_state_machine();
Jellehierck 28:59e8266f4633 1238
Jellehierck 25:a1be4cf2ab0b 1239 // State transition guard
Jellehierck 41:8e8141f355af 1240 if ( motor_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1241 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1242 global_state_changed = true;
Jellehierck 51:7fe2659a1fcb 1243 set_led_color('o'); // Disable motor calibration LED
Jellehierck 23:8a0a0b959af1 1244 }
Jellehierck 23:8a0a0b959af1 1245 }
Jellehierck 23:8a0a0b959af1 1246
Jellehierck 37:806c7c8381a7 1247 // OPERATION MODE
Jellehierck 37:806c7c8381a7 1248 void do_global_operation()
Jellehierck 37:806c7c8381a7 1249 {
Jellehierck 37:806c7c8381a7 1250 // Entry function
Jellehierck 37:806c7c8381a7 1251 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1252 global_state_changed = false;
Jellehierck 40:c6dffb676350 1253
Jellehierck 39:f9042483b921 1254 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 39:f9042483b921 1255 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 51:7fe2659a1fcb 1256 set_led_color('g'); // Set operation led (GREEN)
Jellehierck 37:806c7c8381a7 1257 }
Jellehierck 37:806c7c8381a7 1258
Jellehierck 37:806c7c8381a7 1259 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 1260 operation_state_machine();
Jellehierck 42:2937ad8f1032 1261
Jellehierck 39:f9042483b921 1262 // Set HIDScope outputs
Jellehierck 39:f9042483b921 1263 scope.set(0, emg1 );
Jellehierck 41:8e8141f355af 1264 scope.set(1, Vx );
Jellehierck 41:8e8141f355af 1265 scope.set(2, emg2 );
Jellehierck 41:8e8141f355af 1266 scope.set(3, Vy );
Jellehierck 39:f9042483b921 1267 scope.send();
Jellehierck 39:f9042483b921 1268
Jellehierck 37:806c7c8381a7 1269 // State transition guard
Jellehierck 51:7fe2659a1fcb 1270 if ( exit_operation == true ) {
Jellehierck 51:7fe2659a1fcb 1271 exit_operation = false;
Jellehierck 37:806c7c8381a7 1272 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1273 global_state_changed = true;
Jellehierck 52:fd35025574ca 1274 set_led_color('o'); // Disable operation led
Jellehierck 37:806c7c8381a7 1275 }
Jellehierck 37:806c7c8381a7 1276 }
Jellehierck 23:8a0a0b959af1 1277 /*
Jellehierck 37:806c7c8381a7 1278 ------------------------------ GLOBAL STATE MACHINE ------------------------------
Jellehierck 23:8a0a0b959af1 1279 */
Jellehierck 37:806c7c8381a7 1280 void global_state_machine()
Jellehierck 23:8a0a0b959af1 1281 {
Jellehierck 37:806c7c8381a7 1282 switch(global_curr_state) {
Jellehierck 37:806c7c8381a7 1283 case global_failure:
Jellehierck 37:806c7c8381a7 1284 do_global_failure();
Jellehierck 23:8a0a0b959af1 1285 break;
Jellehierck 37:806c7c8381a7 1286 case global_wait:
Jellehierck 37:806c7c8381a7 1287 do_global_wait();
Jellehierck 37:806c7c8381a7 1288 break;
Jellehierck 38:8b597ab8344f 1289 case global_emg_cal:
Jellehierck 38:8b597ab8344f 1290 do_global_emg_cal();
Jellehierck 23:8a0a0b959af1 1291 break;
Jellehierck 38:8b597ab8344f 1292 case global_motor_cal:
Jellehierck 38:8b597ab8344f 1293 do_global_motor_cal();
Jellehierck 23:8a0a0b959af1 1294 break;
Jellehierck 37:806c7c8381a7 1295 case global_operation:
Jellehierck 37:806c7c8381a7 1296 do_global_operation();
Jellehierck 37:806c7c8381a7 1297 break;
Jellehierck 37:806c7c8381a7 1298 case global_demo:
Jellehierck 37:806c7c8381a7 1299 do_global_demo();
Jellehierck 23:8a0a0b959af1 1300 break;
Jellehierck 23:8a0a0b959af1 1301 }
Jellehierck 23:8a0a0b959af1 1302 }
Jellehierck 23:8a0a0b959af1 1303
Jellehierck 38:8b597ab8344f 1304 /*
Jellehierck 38:8b597ab8344f 1305 ------------------------------ READ SAMPLES ------------------------------
Jellehierck 38:8b597ab8344f 1306 */
Jellehierck 38:8b597ab8344f 1307 void sampleSignals()
Jellehierck 38:8b597ab8344f 1308 {
Jellehierck 38:8b597ab8344f 1309 if (emg_sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 38:8b597ab8344f 1310 // Read EMG inputs
Jellehierck 38:8b597ab8344f 1311 emg1 = emg1_in.read();
Jellehierck 38:8b597ab8344f 1312 emg2 = emg2_in.read();
Jellehierck 38:8b597ab8344f 1313 emg3 = emg3_in.read();
Jellehierck 45:d09040915cfe 1314 emg4 = emg4_in.read();
Jellehierck 38:8b597ab8344f 1315
Jellehierck 38:8b597ab8344f 1316 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 38:8b597ab8344f 1317 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1318 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1319 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1320
Jellehierck 38:8b597ab8344f 1321 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 38:8b597ab8344f 1322 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1323 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1324 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1325
Jellehierck 38:8b597ab8344f 1326 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 38:8b597ab8344f 1327 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1328 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1329 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 51:7fe2659a1fcb 1330
Jellehierck 45:d09040915cfe 1331 double emg4_n = bqc4_notch.step( emg4 ); // Filter notch
Jellehierck 45:d09040915cfe 1332 double emg4_hp = bqc4_high.step( emg4_n ); // Filter highpass
Jellehierck 45:d09040915cfe 1333 double emg4_rectify = fabs( emg4_hp ); // Rectify
Jellehierck 45:d09040915cfe 1334 emg4_env = bqc4_low.step( emg4_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1335
Jellehierck 38:8b597ab8344f 1336 if (emg_calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 38:8b597ab8344f 1337 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1338 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1339 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 45:d09040915cfe 1340 emg4_cal.push_back(emg4_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1341 }
Jellehierck 38:8b597ab8344f 1342 }
Jellehierck 40:c6dffb676350 1343
Jellehierck 40:c6dffb676350 1344 counts1af = encoder1.getPulses();
Jellehierck 40:c6dffb676350 1345 deltaCounts1 = counts1af - countsPrev1;
Jellehierck 40:c6dffb676350 1346 countsPrev1 = counts1af;
Jellehierck 40:c6dffb676350 1347
Jellehierck 40:c6dffb676350 1348 counts2af = encoder2.getPulses();
Jellehierck 40:c6dffb676350 1349 deltaCounts2 = counts2af - countsPrev2;
Jellehierck 40:c6dffb676350 1350 countsPrev2 = counts2af;
Jellehierck 38:8b597ab8344f 1351 }
Jellehierck 37:806c7c8381a7 1352
Jellehierck 37:806c7c8381a7 1353 /*
Jellehierck 37:806c7c8381a7 1354 ------------------------------ GLOBAL PROGRAM LOOP ------------------------------
Jellehierck 37:806c7c8381a7 1355 */
Jellehierck 25:a1be4cf2ab0b 1356 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 1357 {
Jellehierck 38:8b597ab8344f 1358 sampleSignals();
Jellehierck 37:806c7c8381a7 1359 global_state_machine();
BasB 47:63b5ccd969e9 1360 changeservo();
Jellehierck 25:a1be4cf2ab0b 1361 }
Jellehierck 25:a1be4cf2ab0b 1362
Jellehierck 37:806c7c8381a7 1363 /*
Jellehierck 37:806c7c8381a7 1364 ------------------------------ MAIN FUNCTION ------------------------------
Jellehierck 37:806c7c8381a7 1365 */
Jellehierck 39:f9042483b921 1366 int main()
Jellehierck 23:8a0a0b959af1 1367 {
Jellehierck 23:8a0a0b959af1 1368 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 1369 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 1370
Jellehierck 51:7fe2659a1fcb 1371 global_curr_state = global_wait; // Start off in global wait state
Jellehierck 34:13fac02ef324 1372 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 51:7fe2659a1fcb 1373 tickLED.attach ( &disp_led_color, 0.25f ); // Start LED ticker
Jellehierck 8:ea3de43c9e8b 1374
Jellehierck 51:7fe2659a1fcb 1375 // ---------- Enable Servo ----------
Jellehierck 51:7fe2659a1fcb 1376 myservo.Enable(1000, 20000);
BasB 48:31676da4be7a 1377
Jellehierck 38:8b597ab8344f 1378 // ---------- Attach filters ----------
Jellehierck 38:8b597ab8344f 1379 bqc1_notch.add( &bq1_notch );
Jellehierck 38:8b597ab8344f 1380 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 38:8b597ab8344f 1381 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 38:8b597ab8344f 1382
Jellehierck 38:8b597ab8344f 1383 bqc2_notch.add( &bq2_notch );
Jellehierck 38:8b597ab8344f 1384 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 38:8b597ab8344f 1385 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 38:8b597ab8344f 1386
Jellehierck 38:8b597ab8344f 1387 bqc3_notch.add( &bq3_notch );
Jellehierck 38:8b597ab8344f 1388 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 38:8b597ab8344f 1389 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 51:7fe2659a1fcb 1390
Jellehierck 45:d09040915cfe 1391 bqc4_notch.add( &bq4_notch );
Jellehierck 45:d09040915cfe 1392 bqc4_high.add( &bq4_H1 ).add( &bq4_H2 );
Jellehierck 45:d09040915cfe 1393 bqc4_low.add( &bq4_L1 ).add( &bq4_L2 );
Jellehierck 38:8b597ab8344f 1394
Jellehierck 38:8b597ab8344f 1395 // ---------- Attach buttons ----------
Jellehierck 37:806c7c8381a7 1396 button1.fall( &button1Press );
Jellehierck 37:806c7c8381a7 1397 button2.fall( &button2Press );
Jellehierck 37:806c7c8381a7 1398 switch2.fall( &switch2Press );
Jellehierck 37:806c7c8381a7 1399 switch3.fall( &switch3Press );
Jellehierck 51:7fe2659a1fcb 1400 extButton1.mode( PullUp ); // To make sure the servo works
Jellehierck 42:2937ad8f1032 1401
Jellehierck 40:c6dffb676350 1402 // ---------- Attach PWM ----------
Jellehierck 40:c6dffb676350 1403 motor1Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1404 motor2Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1405
Jellehierck 38:8b597ab8344f 1406 // ---------- Turn OFF LEDs ----------
Jellehierck 51:7fe2659a1fcb 1407 set_led_color('o');
Jellehierck 37:806c7c8381a7 1408
Jellehierck 23:8a0a0b959af1 1409 while(true) {
Jellehierck 45:d09040915cfe 1410 pc.printf("Global state: %i EMG state: %i Motor state: %i Operation state: %i Demo state: %i\r\n", global_curr_state, emg_curr_state, motor_curr_state, operation_curr_state, demo_curr_state);
Jellehierck 53:35282a3e0cad 1411 pc.printf("Potmeter 1: %f Potmeter 2: %f\r\n", potmeter1.read(), potmeter2.read());
BasB 47:63b5ccd969e9 1412 //pc.printf("EMG1 direction: %f EMG2 direction: %f \r\n", emg1_dir, emg2_dir);
Jellehierck 53:35282a3e0cad 1413 //pc.printf("q1: %f q2: %f \r\n",q1*rad2deg,q2*rad2deg);
Jellehierck 53:35282a3e0cad 1414 //pc.printf("Motor1ref: %f Motor1angle: %f\r\n",motor1_ref*rad2deg/5.5f,motor1_angle*rad2deg/5.5f);
Jellehierck 53:35282a3e0cad 1415 //pc.printf("Motor2ref: %f Motor2angle: %f\r\n",motor2_ref*rad2deg/2.75f,motor2_angle*rad2deg/2.75f);
Jellehierck 51:7fe2659a1fcb 1416
Jellehierck 45:d09040915cfe 1417 //pc.printf("Xe: %f Ye: %f\r\n",xe,ye);
Jellehierck 30:bac3b60d6283 1418 wait(0.5f);
Jellehierck 23:8a0a0b959af1 1419 }
Jellehierck 23:8a0a0b959af1 1420 }