De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@50:86bad994f08f, 2019-10-31 (annotated)
- Committer:
- Jellehierck
- Date:
- Thu Oct 31 19:05:31 2019 +0000
- Revision:
- 50:86bad994f08f
- Parent:
- 49:80970a03083b
- Parent:
- 48:31676da4be7a
- Child:
- 51:7fe2659a1fcb
Merged correct demo mode and corrected kinematics
Who changed what in which revision?
User | Revision | Line number | New 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 | 40:c6dffb676350 | 39 | |
Jellehierck | 40:c6dffb676350 | 40 | // Encoder inputs |
Jellehierck | 40:c6dffb676350 | 41 | DigitalIn encA1(D9); |
Jellehierck | 40:c6dffb676350 | 42 | DigitalIn encB1(D8); |
Jellehierck | 40:c6dffb676350 | 43 | DigitalIn encA2(D13); |
Jellehierck | 40:c6dffb676350 | 44 | DigitalIn encB2(D12); |
Jellehierck | 40:c6dffb676350 | 45 | |
Jellehierck | 40:c6dffb676350 | 46 | // Motor outputs |
Jellehierck | 42:2937ad8f1032 | 47 | DigitalOut motor1Direction(D7); |
Jellehierck | 42:2937ad8f1032 | 48 | FastPWM motor1Power(D6); |
Jellehierck | 40:c6dffb676350 | 49 | DigitalOut motor2Direction(D4); |
Jellehierck | 40:c6dffb676350 | 50 | FastPWM motor2Power(D5); |
Jellehierck | 42:2937ad8f1032 | 51 | |
Jellehierck | 42:2937ad8f1032 | 52 | // Servo |
BasB | 47:63b5ccd969e9 | 53 | Servo myservo(D3); |
BasB | 47:63b5ccd969e9 | 54 | bool butt1; |
Jellehierck | 38:8b597ab8344f | 55 | |
Jellehierck | 15:421d3d9c563b | 56 | /* |
Jellehierck | 38:8b597ab8344f | 57 | ------------------------------ INITIALIZE TICKERS, TIMERS & TIMEOUTS ------------------------------ |
Jellehierck | 38:8b597ab8344f | 58 | */ |
Jellehierck | 38:8b597ab8344f | 59 | Ticker tickGlobal; // Set global ticker |
Jellehierck | 38:8b597ab8344f | 60 | Timer timerCalibration; // Set EMG Calibration timer |
Jellehierck | 38:8b597ab8344f | 61 | |
Jellehierck | 38:8b597ab8344f | 62 | /* |
Jellehierck | 38:8b597ab8344f | 63 | ------------------------------ INITIALIZE GLOBAL VARIABLES ------------------------------ |
Jellehierck | 15:421d3d9c563b | 64 | */ |
Jellehierck | 15:421d3d9c563b | 65 | |
Jellehierck | 37:806c7c8381a7 | 66 | // State machine variables |
Jellehierck | 38:8b597ab8344f | 67 | enum GLOBAL_States { global_failure, global_wait, global_emg_cal, global_motor_cal, global_operation, global_demo }; // Define global states |
Jellehierck | 37:806c7c8381a7 | 68 | GLOBAL_States global_curr_state = global_wait; // Initialize global state to waiting state |
Jellehierck | 37:806c7c8381a7 | 69 | bool global_state_changed = true; // Enable entry functions |
Jellehierck | 42:2937ad8f1032 | 70 | bool failure_mode = false; // Global failure mode flag (not used yet) |
Jellehierck | 42:2937ad8f1032 | 71 | bool emg_cal_done = false; // Global EMG calibration flag |
Jellehierck | 42:2937ad8f1032 | 72 | bool motor_cal_done = false; // Global motor calibration flag |
Jellehierck | 38:8b597ab8344f | 73 | |
Jellehierck | 38:8b597ab8344f | 74 | // EMG Substate variables |
Jellehierck | 38:8b597ab8344f | 75 | enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates |
Jellehierck | 38:8b597ab8344f | 76 | EMG_States emg_curr_state = emg_wait; // Initialize EMG substate variable |
Jellehierck | 42:2937ad8f1032 | 77 | bool emg_state_changed = true; // Enable entry functions |
Jellehierck | 42:2937ad8f1032 | 78 | bool emg_sampleNow = false; // Flag to enable EMG sampling and filtering in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 79 | bool emg_calibrateNow = false; // Flag to enable EMG calibration in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 80 | bool emg_MVC_cal_done = false; // Internal MVC calibration flag |
Jellehierck | 42:2937ad8f1032 | 81 | bool emg_rest_cal_done = false; // Internal rest calibration flag |
Jellehierck | 8:ea3de43c9e8b | 82 | |
Jellehierck | 40:c6dffb676350 | 83 | // Motor Substate variables |
Jellehierck | 42:2937ad8f1032 | 84 | enum Motor_States { motor_wait, motor_encoder_set, motor_finish, motor_movement }; // Define motor substates |
Jellehierck | 42:2937ad8f1032 | 85 | Motor_States motor_curr_state = motor_wait; // Initialize motor substate variable |
Jellehierck | 42:2937ad8f1032 | 86 | bool motor_state_changed = true; // Enable entry functions |
Jellehierck | 42:2937ad8f1032 | 87 | bool motor_encoder_cal_done = false; // Internal encoder calibration flag |
Jellehierck | 40:c6dffb676350 | 88 | |
Jellehierck | 42:2937ad8f1032 | 89 | // Operation Substate variables |
Jellehierck | 42:2937ad8f1032 | 90 | enum Operation_States { operation_wait, operation_movement, operation_finish }; // Define operation substates |
Jellehierck | 42:2937ad8f1032 | 91 | Operation_States operation_curr_state = operation_wait; // Initialize operation substate variable |
Jellehierck | 42:2937ad8f1032 | 92 | bool operation_state_changed = true; // Enable entry functions |
Jellehierck | 42:2937ad8f1032 | 93 | bool operation_showcard = false; // Internal flag to toggle servo position |
Jellehierck | 40:c6dffb676350 | 94 | |
Jellehierck | 43:1bd5417ded64 | 95 | // Demo Substate variables |
Jellehierck | 43:1bd5417ded64 | 96 | enum Demo_States { demo_wait, demo_motor_cal, demo_XY }; // Define demo substates |
Jellehierck | 43:1bd5417ded64 | 97 | Demo_States demo_curr_state; // Initialize demo substate variable |
Jellehierck | 43:1bd5417ded64 | 98 | bool demo_state_changed = true; // Enable entry functions |
Jellehierck | 43:1bd5417ded64 | 99 | |
Jellehierck | 37:806c7c8381a7 | 100 | // Button press interrupts (to prevent bounce) |
Jellehierck | 37:806c7c8381a7 | 101 | bool button1_pressed = false; |
Jellehierck | 37:806c7c8381a7 | 102 | bool button2_pressed = false; |
Jellehierck | 37:806c7c8381a7 | 103 | bool switch2_pressed = false; |
Jellehierck | 7:7a088536f1c9 | 104 | |
Jellehierck | 38:8b597ab8344f | 105 | // Global constants |
Jellehierck | 38:8b597ab8344f | 106 | const double Fs = 500.0; |
Jellehierck | 38:8b597ab8344f | 107 | const double Ts = 1/Fs; |
Jellehierck | 35:e82834e62e44 | 108 | |
Jellehierck | 35:e82834e62e44 | 109 | /* |
Jellehierck | 37:806c7c8381a7 | 110 | ------------------------------ HELPER FUNCTIONS ------------------------------ |
Jellehierck | 37:806c7c8381a7 | 111 | */ |
Jellehierck | 38:8b597ab8344f | 112 | // Empty placeholder function, needs to be deleted at end of project |
Jellehierck | 38:8b597ab8344f | 113 | void doStuff() {} |
Jellehierck | 38:8b597ab8344f | 114 | |
Jellehierck | 38:8b597ab8344f | 115 | // Return max value of vector |
Jellehierck | 38:8b597ab8344f | 116 | double getMax(const vector<double> &vect) |
Jellehierck | 38:8b597ab8344f | 117 | { |
Jellehierck | 38:8b597ab8344f | 118 | double curr_max = 0.0; |
Jellehierck | 38:8b597ab8344f | 119 | int vect_n = vect.size(); |
Jellehierck | 38:8b597ab8344f | 120 | for (int i = 0; i < vect_n; i++) { |
Jellehierck | 38:8b597ab8344f | 121 | if (vect[i] > curr_max) { |
Jellehierck | 38:8b597ab8344f | 122 | curr_max = vect[i]; |
Jellehierck | 38:8b597ab8344f | 123 | }; |
Jellehierck | 38:8b597ab8344f | 124 | } |
Jellehierck | 38:8b597ab8344f | 125 | return curr_max; |
Jellehierck | 38:8b597ab8344f | 126 | } |
Jellehierck | 37:806c7c8381a7 | 127 | |
Jellehierck | 38:8b597ab8344f | 128 | // Return mean of vector |
Jellehierck | 38:8b597ab8344f | 129 | double getMean(const vector<double> &vect) |
Jellehierck | 38:8b597ab8344f | 130 | { |
Jellehierck | 38:8b597ab8344f | 131 | double sum = 0.0; |
Jellehierck | 38:8b597ab8344f | 132 | int vect_n = vect.size(); |
Jellehierck | 38:8b597ab8344f | 133 | for ( int i = 0; i < vect_n; i++ ) { |
Jellehierck | 38:8b597ab8344f | 134 | sum += vect[i]; |
Jellehierck | 38:8b597ab8344f | 135 | } |
Jellehierck | 38:8b597ab8344f | 136 | return sum/vect_n; |
Jellehierck | 38:8b597ab8344f | 137 | } |
Jellehierck | 37:806c7c8381a7 | 138 | |
Jellehierck | 38:8b597ab8344f | 139 | // Return standard deviation of vector |
Jellehierck | 38:8b597ab8344f | 140 | double getStdev(const vector<double> &vect, const double vect_mean) |
Jellehierck | 38:8b597ab8344f | 141 | { |
Jellehierck | 38:8b597ab8344f | 142 | double sum2 = 0.0; |
Jellehierck | 38:8b597ab8344f | 143 | int vect_n = vect.size(); |
Jellehierck | 38:8b597ab8344f | 144 | for ( int i = 0; i < vect_n; i++ ) { |
Jellehierck | 38:8b597ab8344f | 145 | sum2 += pow( vect[i] - vect_mean, 2 ); |
Jellehierck | 38:8b597ab8344f | 146 | } |
Jellehierck | 38:8b597ab8344f | 147 | double output = sqrt( sum2 / vect_n ); |
Jellehierck | 38:8b597ab8344f | 148 | return output; |
Jellehierck | 38:8b597ab8344f | 149 | } |
Jellehierck | 38:8b597ab8344f | 150 | |
Jellehierck | 38:8b597ab8344f | 151 | // Rescale double values to certain range |
Jellehierck | 38:8b597ab8344f | 152 | double rescale(double input, double out_min, double out_max, double in_min, double in_max) |
Jellehierck | 38:8b597ab8344f | 153 | { |
Jellehierck | 38:8b597ab8344f | 154 | double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function |
Jellehierck | 38:8b597ab8344f | 155 | return output; |
Jellehierck | 38:8b597ab8344f | 156 | } |
Jellehierck | 37:806c7c8381a7 | 157 | |
Jellehierck | 37:806c7c8381a7 | 158 | /* |
Jellehierck | 37:806c7c8381a7 | 159 | ------------------------------ BUTTON FUNCTIONS ------------------------------ |
Jellehierck | 35:e82834e62e44 | 160 | */ |
Jellehierck | 35:e82834e62e44 | 161 | |
Jellehierck | 25:a1be4cf2ab0b | 162 | // Handle button press |
Jellehierck | 25:a1be4cf2ab0b | 163 | void button1Press() |
Jellehierck | 25:a1be4cf2ab0b | 164 | { |
Jellehierck | 25:a1be4cf2ab0b | 165 | button1_pressed = true; |
Jellehierck | 25:a1be4cf2ab0b | 166 | } |
Jellehierck | 25:a1be4cf2ab0b | 167 | |
Jellehierck | 25:a1be4cf2ab0b | 168 | // Handle button press |
Jellehierck | 25:a1be4cf2ab0b | 169 | void button2Press() |
Jellehierck | 25:a1be4cf2ab0b | 170 | { |
Jellehierck | 25:a1be4cf2ab0b | 171 | button2_pressed = true; |
Jellehierck | 25:a1be4cf2ab0b | 172 | } |
Jellehierck | 25:a1be4cf2ab0b | 173 | |
Jellehierck | 37:806c7c8381a7 | 174 | void switch2Press() |
Jellehierck | 6:5437cc97e1e6 | 175 | { |
Jellehierck | 37:806c7c8381a7 | 176 | switch2_pressed = true; |
Jellehierck | 35:e82834e62e44 | 177 | } |
Jellehierck | 6:5437cc97e1e6 | 178 | |
Jellehierck | 37:806c7c8381a7 | 179 | void switch3Press() |
Jellehierck | 35:e82834e62e44 | 180 | { |
Jellehierck | 37:806c7c8381a7 | 181 | global_curr_state = global_failure; |
Jellehierck | 37:806c7c8381a7 | 182 | global_state_changed = true; |
Jellehierck | 6:5437cc97e1e6 | 183 | } |
Jellehierck | 6:5437cc97e1e6 | 184 | |
Jellehierck | 15:421d3d9c563b | 185 | /* |
Jellehierck | 38:8b597ab8344f | 186 | ------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------ |
Jellehierck | 38:8b597ab8344f | 187 | */ |
Jellehierck | 38:8b597ab8344f | 188 | |
Jellehierck | 38:8b597ab8344f | 189 | // Set global constant values for EMG reading & analysis |
Jellehierck | 41:8e8141f355af | 190 | const double Tcal = 7.5f; // Calibration duration (s) |
Jellehierck | 38:8b597ab8344f | 191 | |
Jellehierck | 38:8b597ab8344f | 192 | // Initialize variables for EMG reading & analysis |
Jellehierck | 38:8b597ab8344f | 193 | double emg1; |
Jellehierck | 38:8b597ab8344f | 194 | double emg1_env; |
Jellehierck | 38:8b597ab8344f | 195 | double emg1_MVC; |
Jellehierck | 38:8b597ab8344f | 196 | double emg1_rest; |
Jellehierck | 38:8b597ab8344f | 197 | double emg1_factor;//delete |
Jellehierck | 38:8b597ab8344f | 198 | double emg1_th; |
Jellehierck | 38:8b597ab8344f | 199 | double emg1_out; |
Jellehierck | 38:8b597ab8344f | 200 | double emg1_norm; //delete |
Jellehierck | 38:8b597ab8344f | 201 | vector<double> emg1_cal; |
Jellehierck | 38:8b597ab8344f | 202 | int emg1_cal_size; //delete |
Jellehierck | 41:8e8141f355af | 203 | double emg1_dir = 1.0; |
Jellehierck | 38:8b597ab8344f | 204 | |
Jellehierck | 38:8b597ab8344f | 205 | double emg2; |
Jellehierck | 38:8b597ab8344f | 206 | double emg2_env; |
Jellehierck | 38:8b597ab8344f | 207 | double emg2_MVC; |
Jellehierck | 38:8b597ab8344f | 208 | double emg2_rest; |
Jellehierck | 38:8b597ab8344f | 209 | double emg2_factor;//delete |
Jellehierck | 38:8b597ab8344f | 210 | double emg2_th; |
Jellehierck | 38:8b597ab8344f | 211 | double emg2_out; |
Jellehierck | 38:8b597ab8344f | 212 | double emg2_norm;//delete |
Jellehierck | 38:8b597ab8344f | 213 | vector<double> emg2_cal; |
Jellehierck | 38:8b597ab8344f | 214 | int emg2_cal_size;//delete |
Jellehierck | 41:8e8141f355af | 215 | double emg2_dir = 1.0; |
Jellehierck | 38:8b597ab8344f | 216 | |
Jellehierck | 38:8b597ab8344f | 217 | double emg3; |
Jellehierck | 38:8b597ab8344f | 218 | double emg3_env; |
Jellehierck | 38:8b597ab8344f | 219 | double emg3_MVC; |
Jellehierck | 38:8b597ab8344f | 220 | double emg3_rest; |
Jellehierck | 38:8b597ab8344f | 221 | double emg3_factor;//delete |
Jellehierck | 38:8b597ab8344f | 222 | double emg3_th; |
Jellehierck | 38:8b597ab8344f | 223 | double emg3_out; |
Jellehierck | 38:8b597ab8344f | 224 | double emg3_norm;//delete |
Jellehierck | 38:8b597ab8344f | 225 | vector<double> emg3_cal; |
Jellehierck | 45:d09040915cfe | 226 | |
Jellehierck | 45:d09040915cfe | 227 | double emg4; |
Jellehierck | 45:d09040915cfe | 228 | double emg4_env; |
Jellehierck | 45:d09040915cfe | 229 | double emg4_MVC; |
Jellehierck | 45:d09040915cfe | 230 | double emg4_rest; |
Jellehierck | 45:d09040915cfe | 231 | double emg4_factor;//delete |
Jellehierck | 45:d09040915cfe | 232 | double emg4_th; |
Jellehierck | 45:d09040915cfe | 233 | double emg4_out; |
Jellehierck | 45:d09040915cfe | 234 | double emg4_norm;//delete |
Jellehierck | 45:d09040915cfe | 235 | vector<double> emg4_cal; |
Jellehierck | 38:8b597ab8344f | 236 | |
Jellehierck | 38:8b597ab8344f | 237 | /* |
Jellehierck | 38:8b597ab8344f | 238 | ------------------------------ EMG FILTERS ------------------------------ |
Jellehierck | 38:8b597ab8344f | 239 | */ |
Jellehierck | 38:8b597ab8344f | 240 | |
Jellehierck | 38:8b597ab8344f | 241 | // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB: |
Jellehierck | 38:8b597ab8344f | 242 | BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21 |
Jellehierck | 38:8b597ab8344f | 243 | BiQuad bq2_notch = bq1_notch; |
Jellehierck | 38:8b597ab8344f | 244 | BiQuad bq3_notch = bq1_notch; |
Jellehierck | 45:d09040915cfe | 245 | BiQuad bq4_notch = bq1_notch; |
Jellehierck | 38:8b597ab8344f | 246 | BiQuadChain bqc1_notch; |
Jellehierck | 38:8b597ab8344f | 247 | BiQuadChain bqc2_notch; |
Jellehierck | 38:8b597ab8344f | 248 | BiQuadChain bqc3_notch; |
Jellehierck | 45:d09040915cfe | 249 | BiQuadChain bqc4_notch; |
Jellehierck | 38:8b597ab8344f | 250 | |
Jellehierck | 38:8b597ab8344f | 251 | // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB |
Jellehierck | 38:8b597ab8344f | 252 | BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21 |
Jellehierck | 38:8b597ab8344f | 253 | BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22 |
Jellehierck | 38:8b597ab8344f | 254 | BiQuad bq2_H1 = bq1_H1; |
Jellehierck | 38:8b597ab8344f | 255 | BiQuad bq2_H2 = bq1_H2; |
Jellehierck | 38:8b597ab8344f | 256 | BiQuad bq3_H1 = bq1_H1; |
Jellehierck | 38:8b597ab8344f | 257 | BiQuad bq3_H2 = bq1_H2; |
Jellehierck | 45:d09040915cfe | 258 | BiQuad bq4_H1 = bq1_H1; |
Jellehierck | 45:d09040915cfe | 259 | BiQuad bq4_H2 = bq1_H2; |
Jellehierck | 38:8b597ab8344f | 260 | BiQuadChain bqc1_high; |
Jellehierck | 38:8b597ab8344f | 261 | BiQuadChain bqc2_high; |
Jellehierck | 38:8b597ab8344f | 262 | BiQuadChain bqc3_high; |
Jellehierck | 45:d09040915cfe | 263 | BiQuadChain bqc4_high; |
Jellehierck | 38:8b597ab8344f | 264 | |
Jellehierck | 38:8b597ab8344f | 265 | // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB: |
Jellehierck | 38:8b597ab8344f | 266 | 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 | 267 | BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22 |
Jellehierck | 38:8b597ab8344f | 268 | BiQuad bq2_L1 = bq1_L1; |
Jellehierck | 38:8b597ab8344f | 269 | BiQuad bq2_L2 = bq1_L2; |
Jellehierck | 38:8b597ab8344f | 270 | BiQuad bq3_L1 = bq1_L1; |
Jellehierck | 38:8b597ab8344f | 271 | BiQuad bq3_L2 = bq1_L2; |
Jellehierck | 45:d09040915cfe | 272 | BiQuad bq4_L1 = bq1_L1; |
Jellehierck | 45:d09040915cfe | 273 | BiQuad bq4_L2 = bq1_L2; |
Jellehierck | 38:8b597ab8344f | 274 | BiQuadChain bqc1_low; |
Jellehierck | 38:8b597ab8344f | 275 | BiQuadChain bqc2_low; |
Jellehierck | 38:8b597ab8344f | 276 | BiQuadChain bqc3_low; |
Jellehierck | 45:d09040915cfe | 277 | BiQuadChain bqc4_low; |
Jellehierck | 38:8b597ab8344f | 278 | |
Jellehierck | 38:8b597ab8344f | 279 | // Function to check filter stability |
Jellehierck | 38:8b597ab8344f | 280 | bool checkBQChainStable() |
Jellehierck | 38:8b597ab8344f | 281 | { |
Jellehierck | 38:8b597ab8344f | 282 | bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains |
Jellehierck | 38:8b597ab8344f | 283 | bool hp_stable = bqc1_high.stable(); |
Jellehierck | 38:8b597ab8344f | 284 | bool l_stable = bqc1_low.stable(); |
Jellehierck | 38:8b597ab8344f | 285 | |
Jellehierck | 38:8b597ab8344f | 286 | if (n_stable && hp_stable && l_stable) { |
Jellehierck | 38:8b597ab8344f | 287 | return true; |
Jellehierck | 38:8b597ab8344f | 288 | } else { |
Jellehierck | 38:8b597ab8344f | 289 | return false; |
Jellehierck | 38:8b597ab8344f | 290 | } |
Jellehierck | 38:8b597ab8344f | 291 | } |
Jellehierck | 42:2937ad8f1032 | 292 | |
Jellehierck | 42:2937ad8f1032 | 293 | /* |
Jellehierck | 42:2937ad8f1032 | 294 | ------------------------------ EMG GLOBAL FUNCTIONS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 295 | */ |
Jellehierck | 42:2937ad8f1032 | 296 | |
Jellehierck | 42:2937ad8f1032 | 297 | void EMGOperationFunc() |
Jellehierck | 42:2937ad8f1032 | 298 | { |
Jellehierck | 42:2937ad8f1032 | 299 | emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor |
Jellehierck | 42:2937ad8f1032 | 300 | emg2_norm = emg2_env * emg2_factor; // Idem |
Jellehierck | 42:2937ad8f1032 | 301 | emg3_norm = emg3_env * emg3_factor; // Idem |
Jellehierck | 45:d09040915cfe | 302 | emg4_norm = emg4_env * emg4_factor; // Idem |
Jellehierck | 42:2937ad8f1032 | 303 | |
Jellehierck | 42:2937ad8f1032 | 304 | |
Jellehierck | 42:2937ad8f1032 | 305 | // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES) |
Jellehierck | 42:2937ad8f1032 | 306 | if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored) |
Jellehierck | 42:2937ad8f1032 | 307 | emg1_out = 0.0; |
Jellehierck | 42:2937ad8f1032 | 308 | } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value) |
Jellehierck | 42:2937ad8f1032 | 309 | emg1_out = 1.0; |
Jellehierck | 42:2937ad8f1032 | 310 | } else { // If in between threshold and MVC, scale EMG signal accordingly |
Jellehierck | 42:2937ad8f1032 | 311 | // Inputs may be in range [emg_th, 1] |
Jellehierck | 42:2937ad8f1032 | 312 | // Outputs are scaled to range [0, 1] |
Jellehierck | 42:2937ad8f1032 | 313 | emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1); |
Jellehierck | 42:2937ad8f1032 | 314 | } |
Jellehierck | 42:2937ad8f1032 | 315 | |
Jellehierck | 42:2937ad8f1032 | 316 | // Idem for emg2 |
Jellehierck | 42:2937ad8f1032 | 317 | if ( emg2_norm < emg2_th ) { |
Jellehierck | 42:2937ad8f1032 | 318 | emg2_out = 0.0; |
Jellehierck | 42:2937ad8f1032 | 319 | } else if ( emg2_norm > 1.0f ) { |
Jellehierck | 42:2937ad8f1032 | 320 | emg2_out = 1.0; |
Jellehierck | 42:2937ad8f1032 | 321 | } else { |
Jellehierck | 42:2937ad8f1032 | 322 | emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1); |
Jellehierck | 42:2937ad8f1032 | 323 | } |
Jellehierck | 42:2937ad8f1032 | 324 | |
Jellehierck | 42:2937ad8f1032 | 325 | // Idem for emg3 |
Jellehierck | 42:2937ad8f1032 | 326 | if ( emg3_norm < emg3_th ) { |
Jellehierck | 45:d09040915cfe | 327 | emg1_dir = 1.0; |
Jellehierck | 42:2937ad8f1032 | 328 | } else { |
Jellehierck | 45:d09040915cfe | 329 | emg1_dir = -1.0; |
Jellehierck | 45:d09040915cfe | 330 | } |
Jellehierck | 45:d09040915cfe | 331 | |
Jellehierck | 45:d09040915cfe | 332 | if ( emg4_norm < emg4_th ) { |
Jellehierck | 45:d09040915cfe | 333 | emg2_dir = 1.0; |
Jellehierck | 45:d09040915cfe | 334 | } else { |
Jellehierck | 45:d09040915cfe | 335 | emg2_dir = -1.0; |
Jellehierck | 42:2937ad8f1032 | 336 | } |
Jellehierck | 42:2937ad8f1032 | 337 | } |
Jellehierck | 38:8b597ab8344f | 338 | /* |
Jellehierck | 38:8b597ab8344f | 339 | ------------------------------ EMG SUBSTATE FUNCTIONS ------------------------------ |
Jellehierck | 15:421d3d9c563b | 340 | */ |
Jellehierck | 38:8b597ab8344f | 341 | |
Jellehierck | 38:8b597ab8344f | 342 | // EMG Waiting state |
Jellehierck | 38:8b597ab8344f | 343 | void do_emg_wait() |
Jellehierck | 38:8b597ab8344f | 344 | { |
Jellehierck | 38:8b597ab8344f | 345 | // Entry function |
Jellehierck | 38:8b597ab8344f | 346 | if ( emg_state_changed == true ) { |
Jellehierck | 38:8b597ab8344f | 347 | emg_state_changed = false; // Disable entry functions |
Jellehierck | 38:8b597ab8344f | 348 | |
Jellehierck | 38:8b597ab8344f | 349 | button1.fall( &button1Press ); // Change to state MVC calibration on button1 press |
Jellehierck | 38:8b597ab8344f | 350 | button2.fall( &button2Press ); // Change to state rest calibration on button2 press |
Jellehierck | 38:8b597ab8344f | 351 | } |
Jellehierck | 38:8b597ab8344f | 352 | |
Jellehierck | 38:8b597ab8344f | 353 | // Do nothing until end condition is met |
Jellehierck | 38:8b597ab8344f | 354 | |
Jellehierck | 38:8b597ab8344f | 355 | // State transition guard |
Jellehierck | 38:8b597ab8344f | 356 | if ( button1_pressed ) { // MVC calibration |
Jellehierck | 38:8b597ab8344f | 357 | button1_pressed = false; // Disable button pressed function until next button press |
Jellehierck | 38:8b597ab8344f | 358 | button1.fall( NULL ); // Disable interrupt during calibration |
Jellehierck | 38:8b597ab8344f | 359 | button2.fall( NULL ); // Disable interrupt during calibration |
Jellehierck | 38:8b597ab8344f | 360 | emg_curr_state = emg_cal_MVC; // Set next state |
Jellehierck | 38:8b597ab8344f | 361 | emg_state_changed = true; // Enable entry functions |
Jellehierck | 38:8b597ab8344f | 362 | |
Jellehierck | 38:8b597ab8344f | 363 | } else if ( button2_pressed ) { // Rest calibration |
Jellehierck | 38:8b597ab8344f | 364 | button2_pressed = false; // Disable button pressed function until next button press |
Jellehierck | 38:8b597ab8344f | 365 | button1.fall( NULL ); // Disable interrupt during calibration |
Jellehierck | 38:8b597ab8344f | 366 | button2.fall( NULL ); // Disable interrupt during calibration |
Jellehierck | 38:8b597ab8344f | 367 | emg_curr_state = emg_cal_rest; // Set next state |
Jellehierck | 38:8b597ab8344f | 368 | emg_state_changed = true; // Enable entry functions |
Jellehierck | 38:8b597ab8344f | 369 | |
Jellehierck | 38:8b597ab8344f | 370 | } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { // Operation mode |
Jellehierck | 38:8b597ab8344f | 371 | button1.fall( NULL ); // Disable interrupt during operation |
Jellehierck | 38:8b597ab8344f | 372 | button2.fall( NULL ); // Disable interrupt during operation |
Jellehierck | 38:8b597ab8344f | 373 | emg_curr_state = emg_operation; // Set next state |
Jellehierck | 38:8b597ab8344f | 374 | emg_state_changed = true; // Enable entry functions |
Jellehierck | 38:8b597ab8344f | 375 | } |
Jellehierck | 38:8b597ab8344f | 376 | } |
Jellehierck | 38:8b597ab8344f | 377 | |
Jellehierck | 38:8b597ab8344f | 378 | // EMG Calibration state |
Jellehierck | 38:8b597ab8344f | 379 | void do_emg_cal() |
Jellehierck | 38:8b597ab8344f | 380 | { |
Jellehierck | 38:8b597ab8344f | 381 | // Entry functions |
Jellehierck | 38:8b597ab8344f | 382 | if ( emg_state_changed == true ) { |
Jellehierck | 38:8b597ab8344f | 383 | emg_state_changed = false; // Disable entry functions |
Jellehierck | 38:8b597ab8344f | 384 | led_b = 0; // Turn on calibration led |
Jellehierck | 38:8b597ab8344f | 385 | |
Jellehierck | 38:8b597ab8344f | 386 | timerCalibration.reset(); |
Jellehierck | 38:8b597ab8344f | 387 | timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds |
Jellehierck | 38:8b597ab8344f | 388 | emg_sampleNow = true; // Enable signal sampling in sampleSignals() |
Jellehierck | 38:8b597ab8344f | 389 | emg_calibrateNow = true; // Enable calibration vector functionality in sampleSignals() |
Jellehierck | 38:8b597ab8344f | 390 | |
Jellehierck | 38:8b597ab8344f | 391 | emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow |
Jellehierck | 38:8b597ab8344f | 392 | emg2_cal.reserve(Fs * Tcal); // Idem |
Jellehierck | 38:8b597ab8344f | 393 | emg3_cal.reserve(Fs * Tcal); // Idem |
Jellehierck | 45:d09040915cfe | 394 | emg4_cal.reserve(Fs * Tcal); // Idem |
Jellehierck | 38:8b597ab8344f | 395 | } |
Jellehierck | 38:8b597ab8344f | 396 | |
Jellehierck | 38:8b597ab8344f | 397 | // Do stuff until end condition is met |
Jellehierck | 38:8b597ab8344f | 398 | // Set HIDScope outputs |
Jellehierck | 38:8b597ab8344f | 399 | scope.set(0, emg1 ); |
Jellehierck | 45:d09040915cfe | 400 | scope.set(1, emg2 ); |
Jellehierck | 45:d09040915cfe | 401 | scope.set(2, emg3 ); |
Jellehierck | 45:d09040915cfe | 402 | scope.set(3, emg4 ); |
Jellehierck | 38:8b597ab8344f | 403 | //scope.set(2, emg2_env ); |
Jellehierck | 38:8b597ab8344f | 404 | //scope.set(3, emg3_env ); |
Jellehierck | 38:8b597ab8344f | 405 | scope.send(); |
Jellehierck | 38:8b597ab8344f | 406 | |
Jellehierck | 38:8b597ab8344f | 407 | // State transition guard |
Jellehierck | 38:8b597ab8344f | 408 | if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished |
Jellehierck | 38:8b597ab8344f | 409 | emg_sampleNow = false; // Disable signal sampling in sampleSignals() |
Jellehierck | 38:8b597ab8344f | 410 | emg_calibrateNow = false; // Disable calibration sampling |
Jellehierck | 38:8b597ab8344f | 411 | led_b = 1; // Turn off calibration led |
Jellehierck | 38:8b597ab8344f | 412 | |
Jellehierck | 38:8b597ab8344f | 413 | // Extract EMG scale data from calibration |
Jellehierck | 38:8b597ab8344f | 414 | switch( emg_curr_state ) { |
Jellehierck | 39:f9042483b921 | 415 | case emg_cal_MVC: // In case of MVC calibration |
Jellehierck | 38:8b597ab8344f | 416 | emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally |
Jellehierck | 38:8b597ab8344f | 417 | emg2_MVC = getMax(emg2_cal); |
Jellehierck | 38:8b597ab8344f | 418 | emg3_MVC = getMax(emg3_cal); |
Jellehierck | 45:d09040915cfe | 419 | emg4_MVC = getMax(emg4_cal); |
Jellehierck | 38:8b597ab8344f | 420 | emg_MVC_cal_done = true; // Set up transition to EMG operation mode |
Jellehierck | 38:8b597ab8344f | 421 | break; |
Jellehierck | 39:f9042483b921 | 422 | case emg_cal_rest: // In case of rest calibration |
Jellehierck | 38:8b597ab8344f | 423 | emg1_rest = getMean(emg1_cal); // Store mean of EMG in rest globally |
Jellehierck | 38:8b597ab8344f | 424 | emg2_rest = getMean(emg2_cal); |
Jellehierck | 38:8b597ab8344f | 425 | emg3_rest = getMean(emg3_cal); |
Jellehierck | 45:d09040915cfe | 426 | emg4_rest = getMean(emg4_cal); |
Jellehierck | 38:8b597ab8344f | 427 | emg_rest_cal_done = true; // Set up transition to EMG operation mode |
Jellehierck | 38:8b597ab8344f | 428 | break; |
Jellehierck | 38:8b597ab8344f | 429 | } |
Jellehierck | 38:8b597ab8344f | 430 | vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow |
Jellehierck | 38:8b597ab8344f | 431 | vector<double>().swap(emg2_cal); |
Jellehierck | 38:8b597ab8344f | 432 | vector<double>().swap(emg3_cal); |
Jellehierck | 45:d09040915cfe | 433 | vector<double>().swap(emg4_cal); |
Jellehierck | 38:8b597ab8344f | 434 | |
Jellehierck | 38:8b597ab8344f | 435 | emg_curr_state = emg_wait; // Set next substate |
Jellehierck | 38:8b597ab8344f | 436 | emg_state_changed = true; // Enable substate entry function |
Jellehierck | 38:8b597ab8344f | 437 | } |
Jellehierck | 38:8b597ab8344f | 438 | } |
Jellehierck | 38:8b597ab8344f | 439 | |
Jellehierck | 38:8b597ab8344f | 440 | // EMG Operation state |
Jellehierck | 38:8b597ab8344f | 441 | void do_emg_operation() |
Jellehierck | 38:8b597ab8344f | 442 | { |
Jellehierck | 38:8b597ab8344f | 443 | // Entry function |
Jellehierck | 38:8b597ab8344f | 444 | if ( emg_state_changed == true ) { |
Jellehierck | 38:8b597ab8344f | 445 | emg_state_changed = false; // Disable entry functions |
Jellehierck | 40:c6dffb676350 | 446 | |
Jellehierck | 39:f9042483b921 | 447 | // Compute scale factors for all EMG signals |
Jellehierck | 38:8b597ab8344f | 448 | double margin_percentage = 5; // Set up % margin for rest |
Jellehierck | 38:8b597ab8344f | 449 | emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC |
Jellehierck | 38:8b597ab8344f | 450 | emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold |
Jellehierck | 38:8b597ab8344f | 451 | emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC |
Jellehierck | 38:8b597ab8344f | 452 | emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold |
Jellehierck | 38:8b597ab8344f | 453 | emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC |
Jellehierck | 38:8b597ab8344f | 454 | emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold |
Jellehierck | 45:d09040915cfe | 455 | emg4_factor = 1 / emg4_MVC; // Factor to normalize MVC |
Jellehierck | 45:d09040915cfe | 456 | emg4_th = emg4_rest * emg4_factor + margin_percentage/100; // Set normalized rest threshold |
Jellehierck | 38:8b597ab8344f | 457 | } |
Jellehierck | 40:c6dffb676350 | 458 | |
Jellehierck | 39:f9042483b921 | 459 | // This state only runs its entry functions ONCE and then exits the EMG substate machine |
Jellehierck | 38:8b597ab8344f | 460 | |
Jellehierck | 38:8b597ab8344f | 461 | // State transition guard |
Jellehierck | 41:8e8141f355af | 462 | if ( true ) { // EMG substate machine is terminated directly after running this state once |
Jellehierck | 38:8b597ab8344f | 463 | emg_curr_state = emg_wait; // Set next state |
Jellehierck | 38:8b597ab8344f | 464 | emg_state_changed = true; // Enable entry function |
Jellehierck | 41:8e8141f355af | 465 | emg_cal_done = true; // Let the global substate machine know that EMG calibration is finished |
Jellehierck | 42:2937ad8f1032 | 466 | |
Jellehierck | 41:8e8141f355af | 467 | // Enable buttons again |
Jellehierck | 41:8e8141f355af | 468 | button1.fall( &button1Press ); |
Jellehierck | 41:8e8141f355af | 469 | button2.fall( &button2Press ); |
Jellehierck | 38:8b597ab8344f | 470 | } |
Jellehierck | 38:8b597ab8344f | 471 | } |
Jellehierck | 38:8b597ab8344f | 472 | |
Jellehierck | 42:2937ad8f1032 | 473 | |
Jellehierck | 42:2937ad8f1032 | 474 | |
Jellehierck | 42:2937ad8f1032 | 475 | /* |
Jellehierck | 42:2937ad8f1032 | 476 | ------------------------------ MOTOR GLOBAL VARIABLES & CONSTANTS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 477 | */ |
Jellehierck | 42:2937ad8f1032 | 478 | // Initialize encoder |
Jellehierck | 42:2937ad8f1032 | 479 | int encoder_res = 64; |
Jellehierck | 42:2937ad8f1032 | 480 | |
Jellehierck | 42:2937ad8f1032 | 481 | QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1 |
BasB | 47:63b5ccd969e9 | 482 | QEI encoder2(D12, D13, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2 |
Jellehierck | 42:2937ad8f1032 | 483 | |
Jellehierck | 42:2937ad8f1032 | 484 | // Initialize variables for encoder reading |
Jellehierck | 42:2937ad8f1032 | 485 | volatile int counts1; |
Jellehierck | 42:2937ad8f1032 | 486 | volatile int counts1af; |
Jellehierck | 42:2937ad8f1032 | 487 | int counts1offset; |
Jellehierck | 42:2937ad8f1032 | 488 | volatile int countsPrev1 = 0; |
Jellehierck | 42:2937ad8f1032 | 489 | volatile int deltaCounts1; |
Jellehierck | 42:2937ad8f1032 | 490 | |
Jellehierck | 42:2937ad8f1032 | 491 | volatile int counts2; |
Jellehierck | 42:2937ad8f1032 | 492 | volatile int counts2af; |
Jellehierck | 42:2937ad8f1032 | 493 | int counts2offset; |
Jellehierck | 42:2937ad8f1032 | 494 | volatile int countsPrev2 = 0; |
Jellehierck | 42:2937ad8f1032 | 495 | volatile int deltaCounts2; |
Jellehierck | 42:2937ad8f1032 | 496 | |
Jellehierck | 42:2937ad8f1032 | 497 | // PWM period |
Jellehierck | 42:2937ad8f1032 | 498 | const float PWM_period = 1/(18*10e3); // 18000 Hz |
Jellehierck | 42:2937ad8f1032 | 499 | |
Jellehierck | 42:2937ad8f1032 | 500 | // Important constants |
BasB | 48:31676da4be7a | 501 | const float pi = 3.141592; // pi |
BasB | 48:31676da4be7a | 502 | const float pi2 = pi * 2.0f; // 2 pi |
BasB | 48:31676da4be7a | 503 | const float deg2rad = pi / 180.0f; //Conversion factor degree to rad |
BasB | 48:31676da4be7a | 504 | const float rad2deg = 180.0f / pi; //Conversion factor rad to degree |
BasB | 48:31676da4be7a | 505 | const float gearratio1 = 110.0f / 20.0f; // Teeth of large gear : teeth of driven gear |
BasB | 48:31676da4be7a | 506 | const float gearratio2 = 55.0f / 20.0f; // Teeth of small gear : teeth of driven gear |
BasB | 48:31676da4be7a | 507 | const float encoder_factorin = pi2 / encoder_res; // Convert encoder counts to angle in rad |
Jellehierck | 42:2937ad8f1032 | 508 | const float gearbox_ratio = 131.25; // Gear ratio of motor gearboxes |
Jellehierck | 42:2937ad8f1032 | 509 | |
Jellehierck | 42:2937ad8f1032 | 510 | // Kinematics variables |
Jellehierck | 42:2937ad8f1032 | 511 | const float l1 = 26.0; // Distance base-joint2 [cm] |
Jellehierck | 42:2937ad8f1032 | 512 | const float l2 = 62.0; // Distance join2-endpoint [cm] |
Jellehierck | 42:2937ad8f1032 | 513 | |
BasB | 48:31676da4be7a | 514 | float q1 = -10.0f * deg2rad; // Angle of first joint [rad] (starts off in reference position) |
Jellehierck | 42:2937ad8f1032 | 515 | float q1dot; // Velocity of first joint [rad/s] |
Jellehierck | 42:2937ad8f1032 | 516 | |
BasB | 48:31676da4be7a | 517 | float q2 = -140.0f * deg2rad; |
Jellehierck | 42:2937ad8f1032 | 518 | float q2dot; |
Jellehierck | 42:2937ad8f1032 | 519 | |
Jellehierck | 42:2937ad8f1032 | 520 | float Vx = 0.0; // Desired linear velocity x direction |
Jellehierck | 42:2937ad8f1032 | 521 | float Vy = 0.0; // Desired linear velocity y direction |
Jellehierck | 42:2937ad8f1032 | 522 | |
Jellehierck | 42:2937ad8f1032 | 523 | float xe; // Endpoint x position [cm] |
Jellehierck | 42:2937ad8f1032 | 524 | float ye; // Endpoint y position [cm] |
Jellehierck | 42:2937ad8f1032 | 525 | |
Jellehierck | 42:2937ad8f1032 | 526 | // Motor angles in starting position |
BasB | 47:63b5ccd969e9 | 527 | const float motor1_init = ( q1 + q2 ) * gearratio1; // Measured angle motor 1 in initial (starting) position |
Jellehierck | 42:2937ad8f1032 | 528 | float motor1_ref = motor1_init; // Expected motor angle |
Jellehierck | 42:2937ad8f1032 | 529 | float motor1_angle = motor1_init; // Actual motor angle |
Jellehierck | 42:2937ad8f1032 | 530 | |
BasB | 47:63b5ccd969e9 | 531 | const float motor2_init = q1 * gearratio2; // Measured angle motor 2 in initial (starting) position |
Jellehierck | 42:2937ad8f1032 | 532 | float motor2_ref = motor2_init; |
Jellehierck | 42:2937ad8f1032 | 533 | float motor2_angle = motor2_init; |
Jellehierck | 42:2937ad8f1032 | 534 | |
Jellehierck | 42:2937ad8f1032 | 535 | // Initialize variables for motor control |
Jellehierck | 42:2937ad8f1032 | 536 | float motor1offset; // Offset during calibration |
Jellehierck | 42:2937ad8f1032 | 537 | float omega1; //velocity (rad/s) |
Jellehierck | 42:2937ad8f1032 | 538 | bool motordir1; // Toggle of motor direction |
Jellehierck | 42:2937ad8f1032 | 539 | double controlsignal1; // ?? |
Jellehierck | 42:2937ad8f1032 | 540 | float motor1_error; // Error between encoder and reference |
Jellehierck | 42:2937ad8f1032 | 541 | |
Jellehierck | 42:2937ad8f1032 | 542 | float motor2offset; |
Jellehierck | 42:2937ad8f1032 | 543 | float omega2; |
Jellehierck | 42:2937ad8f1032 | 544 | bool motordir2; |
Jellehierck | 42:2937ad8f1032 | 545 | double controlsignal2; |
BasB | 47:63b5ccd969e9 | 546 | float motor2_error; |
Jellehierck | 42:2937ad8f1032 | 547 | |
Jellehierck | 42:2937ad8f1032 | 548 | // Initialize variables for PID controller |
Jellehierck | 42:2937ad8f1032 | 549 | float Kp = 0.27; // Proportional gain |
Jellehierck | 42:2937ad8f1032 | 550 | float Ki = 0.35; // Integral gain |
Jellehierck | 42:2937ad8f1032 | 551 | float Kd = 0.1; // Derivative gain |
Jellehierck | 42:2937ad8f1032 | 552 | float Ka = 1.0; |
Jellehierck | 42:2937ad8f1032 | 553 | |
Jellehierck | 42:2937ad8f1032 | 554 | float u_p1; // |
Jellehierck | 42:2937ad8f1032 | 555 | float u_i1; // |
Jellehierck | 42:2937ad8f1032 | 556 | float ux1; // |
Jellehierck | 42:2937ad8f1032 | 557 | float up1; // Proportional contribution |
Jellehierck | 42:2937ad8f1032 | 558 | float ek1; // |
Jellehierck | 42:2937ad8f1032 | 559 | float ei1 = 0.0; // Integral error (starts at 0) |
Jellehierck | 42:2937ad8f1032 | 560 | |
Jellehierck | 42:2937ad8f1032 | 561 | float u_p2; |
Jellehierck | 42:2937ad8f1032 | 562 | float u_i2; |
Jellehierck | 42:2937ad8f1032 | 563 | float ux2; |
Jellehierck | 42:2937ad8f1032 | 564 | float up2; |
Jellehierck | 42:2937ad8f1032 | 565 | float ek2; |
Jellehierck | 42:2937ad8f1032 | 566 | float ei2 = 0.0; |
Jellehierck | 42:2937ad8f1032 | 567 | |
Jellehierck | 42:2937ad8f1032 | 568 | /* |
Jellehierck | 42:2937ad8f1032 | 569 | ------------------------------ MOTOR FUNCTIONS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 570 | */ |
Jellehierck | 42:2937ad8f1032 | 571 | void PID_controller() |
Jellehierck | 42:2937ad8f1032 | 572 | { |
Jellehierck | 42:2937ad8f1032 | 573 | // Motor 1 |
BasB | 48:31676da4be7a | 574 | static float error_integral1 = 0.0; |
Jellehierck | 42:2937ad8f1032 | 575 | static float e_prev1 = motor1_error; |
Jellehierck | 42:2937ad8f1032 | 576 | |
Jellehierck | 42:2937ad8f1032 | 577 | //Proportional part |
Jellehierck | 42:2937ad8f1032 | 578 | u_p1 = Kp * motor1_error; |
Jellehierck | 42:2937ad8f1032 | 579 | |
Jellehierck | 42:2937ad8f1032 | 580 | //Integral part |
Jellehierck | 42:2937ad8f1032 | 581 | error_integral1 = error_integral1 + ei1 * Ts; |
Jellehierck | 42:2937ad8f1032 | 582 | u_i1 = Ki * error_integral1; |
Jellehierck | 42:2937ad8f1032 | 583 | |
Jellehierck | 42:2937ad8f1032 | 584 | //Derivative part |
Jellehierck | 42:2937ad8f1032 | 585 | float error_derivative1 = (motor1_error - e_prev1) / Ts; |
Jellehierck | 42:2937ad8f1032 | 586 | float u_d1 = Kd * error_derivative1; |
Jellehierck | 42:2937ad8f1032 | 587 | e_prev1 = motor1_error; |
Jellehierck | 42:2937ad8f1032 | 588 | |
Jellehierck | 42:2937ad8f1032 | 589 | // Sum and limit |
Jellehierck | 42:2937ad8f1032 | 590 | up1 = u_p1 + u_i1 + u_d1; |
BasB | 48:31676da4be7a | 591 | if ( up1 > 1.0f ) { |
BasB | 48:31676da4be7a | 592 | controlsignal1 = 1.0f; |
BasB | 48:31676da4be7a | 593 | } else if ( up1 < -1.0f ) { |
BasB | 48:31676da4be7a | 594 | controlsignal1 = -1.0f; |
Jellehierck | 42:2937ad8f1032 | 595 | } else { |
Jellehierck | 42:2937ad8f1032 | 596 | controlsignal1 = up1; |
Jellehierck | 42:2937ad8f1032 | 597 | } |
Jellehierck | 42:2937ad8f1032 | 598 | |
Jellehierck | 42:2937ad8f1032 | 599 | // To prevent windup |
Jellehierck | 42:2937ad8f1032 | 600 | ux1 = up1 - controlsignal1; |
Jellehierck | 42:2937ad8f1032 | 601 | ek1 = Ka * ux1; |
Jellehierck | 42:2937ad8f1032 | 602 | ei1 = motor1_error - ek1; |
Jellehierck | 42:2937ad8f1032 | 603 | |
Jellehierck | 42:2937ad8f1032 | 604 | // Motor 2 |
BasB | 48:31676da4be7a | 605 | static float error_integral2 = 0.0; |
BasB | 47:63b5ccd969e9 | 606 | static float e_prev2 = motor2_error; |
Jellehierck | 42:2937ad8f1032 | 607 | |
Jellehierck | 42:2937ad8f1032 | 608 | //Proportional part: |
BasB | 47:63b5ccd969e9 | 609 | u_p2 = Kp * motor2_error; |
Jellehierck | 42:2937ad8f1032 | 610 | |
Jellehierck | 42:2937ad8f1032 | 611 | //Integral part |
Jellehierck | 42:2937ad8f1032 | 612 | error_integral2 = error_integral2 + ei2 * Ts; |
Jellehierck | 42:2937ad8f1032 | 613 | u_i2 = Ki * error_integral2; |
Jellehierck | 42:2937ad8f1032 | 614 | |
Jellehierck | 42:2937ad8f1032 | 615 | //Derivative part |
BasB | 47:63b5ccd969e9 | 616 | float error_derivative2 = (motor2_error - e_prev2) / Ts; |
Jellehierck | 42:2937ad8f1032 | 617 | float u_d2 = Kd * error_derivative2; |
BasB | 47:63b5ccd969e9 | 618 | e_prev2 = motor2_error; |
Jellehierck | 42:2937ad8f1032 | 619 | |
Jellehierck | 42:2937ad8f1032 | 620 | // Sum and limit |
Jellehierck | 42:2937ad8f1032 | 621 | up2 = u_p2 + u_i2 + u_d2; |
Jellehierck | 42:2937ad8f1032 | 622 | if ( up2 > 1.0f ) { |
Jellehierck | 42:2937ad8f1032 | 623 | controlsignal2 = 1.0f; |
BasB | 48:31676da4be7a | 624 | } else if ( up2 < -1.0f ) { |
Jellehierck | 42:2937ad8f1032 | 625 | controlsignal2 = -1.0f; |
Jellehierck | 42:2937ad8f1032 | 626 | } else { |
Jellehierck | 42:2937ad8f1032 | 627 | controlsignal2 = up2; |
Jellehierck | 42:2937ad8f1032 | 628 | } |
Jellehierck | 42:2937ad8f1032 | 629 | |
Jellehierck | 42:2937ad8f1032 | 630 | // To prevent windup |
Jellehierck | 42:2937ad8f1032 | 631 | ux2 = up2 - controlsignal2; |
Jellehierck | 42:2937ad8f1032 | 632 | ek2 = Ka * ux2; |
BasB | 47:63b5ccd969e9 | 633 | ei2 = motor2_error - ek2; |
Jellehierck | 42:2937ad8f1032 | 634 | } |
Jellehierck | 42:2937ad8f1032 | 635 | |
Jellehierck | 42:2937ad8f1032 | 636 | void RKI() |
Jellehierck | 42:2937ad8f1032 | 637 | { |
Jellehierck | 42:2937ad8f1032 | 638 | // Derived function for angular velocity of joint angles |
Jellehierck | 42:2937ad8f1032 | 639 | 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 | 640 | 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 | 641 | q1 = q1 + q1dot * Ts; |
Jellehierck | 42:2937ad8f1032 | 642 | q2 = q2 + q2dot * Ts; |
Jellehierck | 42:2937ad8f1032 | 643 | |
Jellehierck | 42:2937ad8f1032 | 644 | xe = l1 * cos(q1) + l2 * cos(q1+q2); |
Jellehierck | 42:2937ad8f1032 | 645 | ye = l1 * sin(q1) + l2 * sin(q1+q2); |
Jellehierck | 42:2937ad8f1032 | 646 | |
BasB | 47:63b5ccd969e9 | 647 | if ( q1 < -5.0f * deg2rad) { |
BasB | 48:31676da4be7a | 648 | q1 = -5.0f * deg2rad; |
Jellehierck | 42:2937ad8f1032 | 649 | } else if ( q1 > 65.0f*deg2rad ) { |
Jellehierck | 42:2937ad8f1032 | 650 | q1 = 65.0f * deg2rad; |
Jellehierck | 42:2937ad8f1032 | 651 | } else { |
Jellehierck | 42:2937ad8f1032 | 652 | q1 = q1; |
Jellehierck | 42:2937ad8f1032 | 653 | } |
Jellehierck | 42:2937ad8f1032 | 654 | |
BasB | 48:31676da4be7a | 655 | if ( q2 > -50.0f*deg2rad ) { |
BasB | 48:31676da4be7a | 656 | q2 = -50.0f * deg2rad; |
BasB | 48:31676da4be7a | 657 | } else if ( q2 < -138.0f*deg2rad ) { |
BasB | 48:31676da4be7a | 658 | q2 = -138.0f * deg2rad; |
Jellehierck | 42:2937ad8f1032 | 659 | } else { |
Jellehierck | 42:2937ad8f1032 | 660 | q2 = q2; |
Jellehierck | 42:2937ad8f1032 | 661 | } |
Jellehierck | 42:2937ad8f1032 | 662 | |
Jellehierck | 42:2937ad8f1032 | 663 | motor1_ref = 5.5f * q1 + 5.5f * q2; |
Jellehierck | 42:2937ad8f1032 | 664 | motor2_ref = 2.75f * q1; |
Jellehierck | 42:2937ad8f1032 | 665 | } |
Jellehierck | 42:2937ad8f1032 | 666 | |
Jellehierck | 42:2937ad8f1032 | 667 | void motorControl() |
Jellehierck | 42:2937ad8f1032 | 668 | { |
Jellehierck | 42:2937ad8f1032 | 669 | counts1 = counts1af - counts1offset; |
BasB | 47:63b5ccd969e9 | 670 | motor1_angle = (counts1 * encoder_factorin / gearbox_ratio) + motor1_init; // Angle of motor shaft in rad + correctie voor q1 en q2 |
Jellehierck | 42:2937ad8f1032 | 671 | omega1 = deltaCounts1 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s |
Jellehierck | 42:2937ad8f1032 | 672 | motor1_error = motor1_ref - motor1_angle; |
BasB | 48:31676da4be7a | 673 | if ( controlsignal1 < 0.0f ) { |
Jellehierck | 42:2937ad8f1032 | 674 | motordir1 = 0; |
Jellehierck | 42:2937ad8f1032 | 675 | } else { |
Jellehierck | 42:2937ad8f1032 | 676 | motordir1 = 1; |
Jellehierck | 42:2937ad8f1032 | 677 | } |
Jellehierck | 42:2937ad8f1032 | 678 | |
Jellehierck | 42:2937ad8f1032 | 679 | motor1Power.write(abs(controlsignal1)); |
Jellehierck | 42:2937ad8f1032 | 680 | motor1Direction = motordir1; |
Jellehierck | 42:2937ad8f1032 | 681 | |
Jellehierck | 42:2937ad8f1032 | 682 | counts2 = counts2af - counts2offset; |
BasB | 47:63b5ccd969e9 | 683 | motor2_angle = (counts2 * encoder_factorin / gearbox_ratio) + motor2_init; // Angle of motor shaft in rad + correctie voor q1 |
Jellehierck | 42:2937ad8f1032 | 684 | omega2 = deltaCounts2 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s |
BasB | 47:63b5ccd969e9 | 685 | motor2_error = motor2_ref-motor2_angle; |
BasB | 48:31676da4be7a | 686 | if ( controlsignal2 < 0.0f ) { |
Jellehierck | 42:2937ad8f1032 | 687 | motordir2 = 0; |
Jellehierck | 42:2937ad8f1032 | 688 | } else { |
Jellehierck | 42:2937ad8f1032 | 689 | motordir2 = 1; |
Jellehierck | 42:2937ad8f1032 | 690 | } |
Jellehierck | 42:2937ad8f1032 | 691 | if (motor_encoder_cal_done == true) { |
Jellehierck | 42:2937ad8f1032 | 692 | motor2Power.write(abs(controlsignal2)); |
Jellehierck | 42:2937ad8f1032 | 693 | } |
Jellehierck | 42:2937ad8f1032 | 694 | motor2Direction = motordir2; |
Jellehierck | 42:2937ad8f1032 | 695 | } |
Jellehierck | 42:2937ad8f1032 | 696 | |
BasB | 47:63b5ccd969e9 | 697 | void changeservo() |
BasB | 47:63b5ccd969e9 | 698 | { |
BasB | 47:63b5ccd969e9 | 699 | butt1= extButton1.read(); |
BasB | 47:63b5ccd969e9 | 700 | if (butt1==1){ |
BasB | 47:63b5ccd969e9 | 701 | myservo.SetPosition(2000); |
BasB | 47:63b5ccd969e9 | 702 | } |
BasB | 47:63b5ccd969e9 | 703 | else { |
BasB | 47:63b5ccd969e9 | 704 | myservo.SetPosition(1000); |
BasB | 47:63b5ccd969e9 | 705 | } |
BasB | 47:63b5ccd969e9 | 706 | } |
BasB | 47:63b5ccd969e9 | 707 | |
Jellehierck | 42:2937ad8f1032 | 708 | void motorKillPower() |
Jellehierck | 42:2937ad8f1032 | 709 | { |
Jellehierck | 42:2937ad8f1032 | 710 | motor1Power.write(0.0f); |
Jellehierck | 42:2937ad8f1032 | 711 | motor2Power.write(0.0f); |
Jellehierck | 42:2937ad8f1032 | 712 | Vx=0.0f; |
Jellehierck | 42:2937ad8f1032 | 713 | Vy=0.0f; |
Jellehierck | 42:2937ad8f1032 | 714 | } |
Jellehierck | 42:2937ad8f1032 | 715 | |
Jellehierck | 42:2937ad8f1032 | 716 | /* |
Jellehierck | 42:2937ad8f1032 | 717 | ------------------------------ MOTOR SUBSTATE FUNCTIONS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 718 | */ |
Jellehierck | 42:2937ad8f1032 | 719 | |
Jellehierck | 42:2937ad8f1032 | 720 | void do_motor_wait() |
Jellehierck | 42:2937ad8f1032 | 721 | { |
Jellehierck | 42:2937ad8f1032 | 722 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 723 | if ( motor_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 724 | motor_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 725 | } |
Jellehierck | 42:2937ad8f1032 | 726 | |
Jellehierck | 42:2937ad8f1032 | 727 | PID_controller(); |
Jellehierck | 42:2937ad8f1032 | 728 | motorControl(); |
Jellehierck | 42:2937ad8f1032 | 729 | |
Jellehierck | 42:2937ad8f1032 | 730 | // State transition guard |
Jellehierck | 42:2937ad8f1032 | 731 | if ( button2_pressed ) { |
Jellehierck | 42:2937ad8f1032 | 732 | button2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 733 | motor_curr_state = motor_encoder_set; //Beginnen met calibratie |
Jellehierck | 42:2937ad8f1032 | 734 | motor_state_changed = true; |
Jellehierck | 42:2937ad8f1032 | 735 | } |
Jellehierck | 42:2937ad8f1032 | 736 | } |
Jellehierck | 42:2937ad8f1032 | 737 | |
Jellehierck | 42:2937ad8f1032 | 738 | void do_motor_encoder_set() |
Jellehierck | 42:2937ad8f1032 | 739 | { |
Jellehierck | 42:2937ad8f1032 | 740 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 741 | if ( motor_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 742 | motor_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 743 | // More functions |
Jellehierck | 42:2937ad8f1032 | 744 | } |
Jellehierck | 42:2937ad8f1032 | 745 | motor1Power.write(0.0f); |
Jellehierck | 42:2937ad8f1032 | 746 | motor2Power.write(0.0f); |
Jellehierck | 42:2937ad8f1032 | 747 | counts1offset = counts1af ; |
Jellehierck | 42:2937ad8f1032 | 748 | counts2offset = counts2af; |
Jellehierck | 42:2937ad8f1032 | 749 | |
Jellehierck | 42:2937ad8f1032 | 750 | // State transition guard |
Jellehierck | 42:2937ad8f1032 | 751 | if ( button2_pressed ) { |
Jellehierck | 42:2937ad8f1032 | 752 | button2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 753 | motor_encoder_cal_done = true; |
Jellehierck | 42:2937ad8f1032 | 754 | motor_curr_state = motor_finish; |
Jellehierck | 42:2937ad8f1032 | 755 | motor_state_changed = true; |
Jellehierck | 42:2937ad8f1032 | 756 | } |
Jellehierck | 42:2937ad8f1032 | 757 | } |
Jellehierck | 42:2937ad8f1032 | 758 | |
Jellehierck | 42:2937ad8f1032 | 759 | void do_motor_finish() |
Jellehierck | 42:2937ad8f1032 | 760 | { |
Jellehierck | 42:2937ad8f1032 | 761 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 762 | if ( motor_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 763 | motor_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 764 | } |
Jellehierck | 42:2937ad8f1032 | 765 | |
Jellehierck | 42:2937ad8f1032 | 766 | // Do stuff until end condition is true |
Jellehierck | 42:2937ad8f1032 | 767 | PID_controller(); |
Jellehierck | 42:2937ad8f1032 | 768 | motorControl(); |
Jellehierck | 42:2937ad8f1032 | 769 | RKI(); |
Jellehierck | 42:2937ad8f1032 | 770 | |
Jellehierck | 42:2937ad8f1032 | 771 | // State transition guard |
Jellehierck | 42:2937ad8f1032 | 772 | if ( button2_pressed ) { |
Jellehierck | 42:2937ad8f1032 | 773 | button2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 774 | motor_cal_done = true; |
Jellehierck | 42:2937ad8f1032 | 775 | motor_curr_state = motor_wait; |
Jellehierck | 42:2937ad8f1032 | 776 | motor_state_changed = true; |
Jellehierck | 42:2937ad8f1032 | 777 | } |
Jellehierck | 42:2937ad8f1032 | 778 | } |
Jellehierck | 42:2937ad8f1032 | 779 | |
Jellehierck | 42:2937ad8f1032 | 780 | /* |
Jellehierck | 42:2937ad8f1032 | 781 | ------------------------------ OPERATION GLOBAL VARIABLES & CONSTANTS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 782 | */ |
Jellehierck | 42:2937ad8f1032 | 783 | |
Jellehierck | 42:2937ad8f1032 | 784 | /* |
Jellehierck | 42:2937ad8f1032 | 785 | ------------------------------ OPERATION GLOBAL FUNCTIONS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 786 | */ |
Jellehierck | 42:2937ad8f1032 | 787 | void toggleServo() |
Jellehierck | 42:2937ad8f1032 | 788 | { |
Jellehierck | 42:2937ad8f1032 | 789 | if ( operation_showcard == true ) { |
BasB | 47:63b5ccd969e9 | 790 | myservo.SetPosition(2000); |
Jellehierck | 42:2937ad8f1032 | 791 | operation_showcard = !operation_showcard; |
Jellehierck | 42:2937ad8f1032 | 792 | } |
Jellehierck | 42:2937ad8f1032 | 793 | |
Jellehierck | 42:2937ad8f1032 | 794 | else { |
BasB | 47:63b5ccd969e9 | 795 | myservo.SetPosition(1000); |
Jellehierck | 42:2937ad8f1032 | 796 | operation_showcard = !operation_showcard; |
Jellehierck | 42:2937ad8f1032 | 797 | } |
Jellehierck | 42:2937ad8f1032 | 798 | } |
Jellehierck | 42:2937ad8f1032 | 799 | |
Jellehierck | 42:2937ad8f1032 | 800 | |
Jellehierck | 42:2937ad8f1032 | 801 | /* |
Jellehierck | 42:2937ad8f1032 | 802 | ------------------------------ OPERATION SUBSTATE FUNCTIONS ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 803 | */ |
Jellehierck | 42:2937ad8f1032 | 804 | void do_operation_wait() |
Jellehierck | 42:2937ad8f1032 | 805 | { |
Jellehierck | 42:2937ad8f1032 | 806 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 807 | if ( operation_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 808 | operation_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 809 | emg_sampleNow = false; // Disable signal sampling in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 810 | emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 811 | } |
Jellehierck | 42:2937ad8f1032 | 812 | |
Jellehierck | 42:2937ad8f1032 | 813 | // Do stuff until end condition is met |
Jellehierck | 43:1bd5417ded64 | 814 | EMGOperationFunc(); |
Jellehierck | 44:342af9b3c1a0 | 815 | |
Jellehierck | 43:1bd5417ded64 | 816 | Vx = emg1_out * 15.0f * emg1_dir; |
Jellehierck | 43:1bd5417ded64 | 817 | Vy = emg2_out * 15.0f * emg2_dir; |
Jellehierck | 44:342af9b3c1a0 | 818 | |
Jellehierck | 43:1bd5417ded64 | 819 | PID_controller(); |
Jellehierck | 43:1bd5417ded64 | 820 | motorControl(); |
Jellehierck | 43:1bd5417ded64 | 821 | RKI(); |
Jellehierck | 44:342af9b3c1a0 | 822 | |
Jellehierck | 42:2937ad8f1032 | 823 | motorKillPower(); // Disables motor outputs |
Jellehierck | 44:342af9b3c1a0 | 824 | |
Jellehierck | 42:2937ad8f1032 | 825 | if ( switch2_pressed == true) { |
Jellehierck | 42:2937ad8f1032 | 826 | switch2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 827 | toggleServo(); |
Jellehierck | 42:2937ad8f1032 | 828 | } |
Jellehierck | 42:2937ad8f1032 | 829 | |
Jellehierck | 42:2937ad8f1032 | 830 | // State transition guard |
Jellehierck | 45:d09040915cfe | 831 | if ( button1_pressed == true ) { |
Jellehierck | 45:d09040915cfe | 832 | button1_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 833 | operation_curr_state = operation_movement; |
Jellehierck | 42:2937ad8f1032 | 834 | operation_state_changed = true; |
Jellehierck | 45:d09040915cfe | 835 | } else if ( button2_pressed == true ) { |
Jellehierck | 45:d09040915cfe | 836 | button2_pressed = false; |
Jellehierck | 45:d09040915cfe | 837 | //operation_curr_state = operation_finish; // To move to finished operation mode (not used yet) |
Jellehierck | 45:d09040915cfe | 838 | operation_curr_state = operation_wait; // TEMPORARY |
Jellehierck | 45:d09040915cfe | 839 | operation_state_changed = true; |
Jellehierck | 45:d09040915cfe | 840 | global_curr_state = global_wait; // TEMPORARY move directly to global wait state |
Jellehierck | 45:d09040915cfe | 841 | global_state_changed = true; // TEMPORARY move directly to global wait state |
Jellehierck | 42:2937ad8f1032 | 842 | } |
Jellehierck | 42:2937ad8f1032 | 843 | } |
Jellehierck | 42:2937ad8f1032 | 844 | |
Jellehierck | 42:2937ad8f1032 | 845 | void do_operation_movement() |
Jellehierck | 42:2937ad8f1032 | 846 | { |
Jellehierck | 42:2937ad8f1032 | 847 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 848 | if ( operation_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 849 | operation_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 850 | emg_sampleNow = true; // Enable signal sampling in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 851 | emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 852 | } |
Jellehierck | 42:2937ad8f1032 | 853 | |
Jellehierck | 42:2937ad8f1032 | 854 | // Do stuff until end condition is met |
Jellehierck | 43:1bd5417ded64 | 855 | EMGOperationFunc(); |
Jellehierck | 44:342af9b3c1a0 | 856 | |
Jellehierck | 43:1bd5417ded64 | 857 | Vx = emg1_out * 15.0f * emg1_dir; |
Jellehierck | 43:1bd5417ded64 | 858 | Vy = emg2_out * 15.0f * emg2_dir; |
Jellehierck | 44:342af9b3c1a0 | 859 | |
Jellehierck | 43:1bd5417ded64 | 860 | PID_controller(); |
Jellehierck | 43:1bd5417ded64 | 861 | motorControl(); |
Jellehierck | 43:1bd5417ded64 | 862 | RKI(); |
Jellehierck | 44:342af9b3c1a0 | 863 | |
Jellehierck | 42:2937ad8f1032 | 864 | if ( switch2_pressed == true) { |
Jellehierck | 42:2937ad8f1032 | 865 | switch2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 866 | toggleServo(); |
Jellehierck | 42:2937ad8f1032 | 867 | } |
Jellehierck | 42:2937ad8f1032 | 868 | |
Jellehierck | 42:2937ad8f1032 | 869 | // State transition guard |
Jellehierck | 45:d09040915cfe | 870 | if ( button1_pressed == true ) { |
Jellehierck | 45:d09040915cfe | 871 | button1_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 872 | operation_curr_state = operation_wait; |
Jellehierck | 42:2937ad8f1032 | 873 | operation_state_changed = true; |
Jellehierck | 45:d09040915cfe | 874 | } else if ( button2_pressed == true ) { |
Jellehierck | 45:d09040915cfe | 875 | button2_pressed = false; |
Jellehierck | 45:d09040915cfe | 876 | //operation_curr_state = operation_finish; // To move to finished operation mode (not used yet) |
Jellehierck | 45:d09040915cfe | 877 | operation_curr_state = operation_wait; // TEMPORARY |
Jellehierck | 45:d09040915cfe | 878 | operation_state_changed = true; |
Jellehierck | 45:d09040915cfe | 879 | global_curr_state = global_wait; // TEMPORARY move directly to global wait state |
Jellehierck | 45:d09040915cfe | 880 | global_state_changed = true; // TEMPORARY move directly to global wait state |
Jellehierck | 42:2937ad8f1032 | 881 | } |
Jellehierck | 42:2937ad8f1032 | 882 | } |
Jellehierck | 42:2937ad8f1032 | 883 | |
Jellehierck | 45:d09040915cfe | 884 | void do_operation_finish() // NOT USED YET |
Jellehierck | 42:2937ad8f1032 | 885 | { |
Jellehierck | 42:2937ad8f1032 | 886 | // Entry function |
Jellehierck | 42:2937ad8f1032 | 887 | if ( operation_state_changed == true ) { |
Jellehierck | 42:2937ad8f1032 | 888 | operation_state_changed = false; |
Jellehierck | 42:2937ad8f1032 | 889 | emg_sampleNow = false; // Enable signal sampling in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 890 | emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() |
Jellehierck | 42:2937ad8f1032 | 891 | } |
Jellehierck | 42:2937ad8f1032 | 892 | |
Jellehierck | 42:2937ad8f1032 | 893 | // Do stuff until end condition is met |
Jellehierck | 43:1bd5417ded64 | 894 | EMGOperationFunc(); |
Jellehierck | 44:342af9b3c1a0 | 895 | |
Jellehierck | 43:1bd5417ded64 | 896 | Vx = emg1_out * 15.0f * emg1_dir; |
Jellehierck | 43:1bd5417ded64 | 897 | Vy = emg2_out * 15.0f * emg2_dir; |
Jellehierck | 44:342af9b3c1a0 | 898 | |
Jellehierck | 43:1bd5417ded64 | 899 | PID_controller(); |
Jellehierck | 43:1bd5417ded64 | 900 | motorControl(); |
Jellehierck | 43:1bd5417ded64 | 901 | RKI(); |
Jellehierck | 44:342af9b3c1a0 | 902 | |
Jellehierck | 42:2937ad8f1032 | 903 | // Function to move to starting position |
Jellehierck | 42:2937ad8f1032 | 904 | |
Jellehierck | 42:2937ad8f1032 | 905 | // State transition guard |
Jellehierck | 45:d09040915cfe | 906 | if ( button2_pressed == true ) { |
Jellehierck | 45:d09040915cfe | 907 | button2_pressed = false; |
Jellehierck | 42:2937ad8f1032 | 908 | operation_curr_state = operation_wait; |
Jellehierck | 42:2937ad8f1032 | 909 | operation_state_changed = true; |
Jellehierck | 44:342af9b3c1a0 | 910 | |
Jellehierck | 42:2937ad8f1032 | 911 | global_curr_state = global_wait; |
Jellehierck | 42:2937ad8f1032 | 912 | global_state_changed = true; |
Jellehierck | 42:2937ad8f1032 | 913 | } |
Jellehierck | 42:2937ad8f1032 | 914 | } |
Jellehierck | 42:2937ad8f1032 | 915 | |
Jellehierck | 38:8b597ab8344f | 916 | /* |
Jellehierck | 38:8b597ab8344f | 917 | ------------------------------ EMG SUBSTATE MACHINE ------------------------------ |
Jellehierck | 38:8b597ab8344f | 918 | */ |
Jellehierck | 38:8b597ab8344f | 919 | |
Jellehierck | 38:8b597ab8344f | 920 | void emg_state_machine() |
Jellehierck | 38:8b597ab8344f | 921 | { |
Jellehierck | 38:8b597ab8344f | 922 | switch(emg_curr_state) { |
Jellehierck | 38:8b597ab8344f | 923 | case emg_wait: |
Jellehierck | 38:8b597ab8344f | 924 | do_emg_wait(); |
Jellehierck | 38:8b597ab8344f | 925 | break; |
Jellehierck | 38:8b597ab8344f | 926 | case emg_cal_MVC: |
Jellehierck | 38:8b597ab8344f | 927 | do_emg_cal(); |
Jellehierck | 38:8b597ab8344f | 928 | break; |
Jellehierck | 38:8b597ab8344f | 929 | case emg_cal_rest: |
Jellehierck | 38:8b597ab8344f | 930 | do_emg_cal(); |
Jellehierck | 38:8b597ab8344f | 931 | break; |
Jellehierck | 38:8b597ab8344f | 932 | case emg_operation: |
Jellehierck | 38:8b597ab8344f | 933 | do_emg_operation(); |
Jellehierck | 38:8b597ab8344f | 934 | break; |
Jellehierck | 38:8b597ab8344f | 935 | } |
Jellehierck | 38:8b597ab8344f | 936 | } |
Jellehierck | 7:7a088536f1c9 | 937 | |
Jellehierck | 15:421d3d9c563b | 938 | /* |
Jellehierck | 40:c6dffb676350 | 939 | ------------------------------ MOTOR SUBSTATE MACHINE ------------------------------ |
Jellehierck | 40:c6dffb676350 | 940 | */ |
Jellehierck | 40:c6dffb676350 | 941 | |
Jellehierck | 40:c6dffb676350 | 942 | void motor_state_machine() |
Jellehierck | 40:c6dffb676350 | 943 | { |
Jellehierck | 40:c6dffb676350 | 944 | switch(motor_curr_state) { |
Jellehierck | 40:c6dffb676350 | 945 | case motor_wait: |
Jellehierck | 40:c6dffb676350 | 946 | do_motor_wait(); |
Jellehierck | 40:c6dffb676350 | 947 | break; |
Jellehierck | 42:2937ad8f1032 | 948 | case motor_encoder_set: |
Jellehierck | 42:2937ad8f1032 | 949 | do_motor_encoder_set(); |
Jellehierck | 40:c6dffb676350 | 950 | break; |
Jellehierck | 40:c6dffb676350 | 951 | case motor_finish: |
Jellehierck | 40:c6dffb676350 | 952 | do_motor_finish(); |
Jellehierck | 40:c6dffb676350 | 953 | break; |
Jellehierck | 40:c6dffb676350 | 954 | } |
Jellehierck | 40:c6dffb676350 | 955 | } |
Jellehierck | 40:c6dffb676350 | 956 | |
Jellehierck | 40:c6dffb676350 | 957 | /* |
Jellehierck | 42:2937ad8f1032 | 958 | ------------------------------ OPERATION SUBSTATE MACHINE ------------------------------ |
Jellehierck | 42:2937ad8f1032 | 959 | */ |
Jellehierck | 42:2937ad8f1032 | 960 | |
Jellehierck | 42:2937ad8f1032 | 961 | void operation_state_machine() |
Jellehierck | 42:2937ad8f1032 | 962 | { |
Jellehierck | 42:2937ad8f1032 | 963 | switch(operation_curr_state) { |
Jellehierck | 42:2937ad8f1032 | 964 | case operation_wait: |
Jellehierck | 42:2937ad8f1032 | 965 | do_operation_wait(); |
Jellehierck | 42:2937ad8f1032 | 966 | break; |
Jellehierck | 42:2937ad8f1032 | 967 | case operation_movement: |
Jellehierck | 42:2937ad8f1032 | 968 | do_operation_movement(); |
Jellehierck | 42:2937ad8f1032 | 969 | break; |
Jellehierck | 42:2937ad8f1032 | 970 | case operation_finish: |
Jellehierck | 42:2937ad8f1032 | 971 | do_operation_finish(); |
Jellehierck | 42:2937ad8f1032 | 972 | break; |
Jellehierck | 42:2937ad8f1032 | 973 | } |
Jellehierck | 42:2937ad8f1032 | 974 | } |
Jellehierck | 42:2937ad8f1032 | 975 | |
Jellehierck | 42:2937ad8f1032 | 976 | /* |
Jellehierck | 43:1bd5417ded64 | 977 | ------------------------------ DEMO SUBSTATE FUNCTIONS ------------------------------ |
Jellehierck | 43:1bd5417ded64 | 978 | */ |
Jellehierck | 44:342af9b3c1a0 | 979 | void do_demo_wait() |
Jellehierck | 44:342af9b3c1a0 | 980 | { |
Jellehierck | 43:1bd5417ded64 | 981 | // Entry function |
Jellehierck | 43:1bd5417ded64 | 982 | if ( demo_state_changed == true ) { |
Jellehierck | 43:1bd5417ded64 | 983 | demo_state_changed = false; |
Jellehierck | 43:1bd5417ded64 | 984 | } |
Jellehierck | 43:1bd5417ded64 | 985 | |
Jellehierck | 43:1bd5417ded64 | 986 | // Do nothing until end condition is met |
Jellehierck | 44:342af9b3c1a0 | 987 | |
Jellehierck | 43:1bd5417ded64 | 988 | // State transition guard |
Jellehierck | 44:342af9b3c1a0 | 989 | if ( button1_pressed == true ) { // demo_XY |
Jellehierck | 43:1bd5417ded64 | 990 | button1_pressed = false; |
Jellehierck | 43:1bd5417ded64 | 991 | demo_curr_state = demo_XY; |
Jellehierck | 43:1bd5417ded64 | 992 | demo_state_changed = true; |
Jellehierck | 43:1bd5417ded64 | 993 | // More functions |
Jellehierck | 44:342af9b3c1a0 | 994 | } else if (button2_pressed == true) { // Return to global wait |
Jellehierck | 43:1bd5417ded64 | 995 | button2_pressed = false; |
Jellehierck | 43:1bd5417ded64 | 996 | demo_curr_state = demo_wait; |
Jellehierck | 43:1bd5417ded64 | 997 | demo_state_changed = true; |
Jellehierck | 43:1bd5417ded64 | 998 | motor_cal_done = false; // Disables motor calibration again (robot is probably not in reference position) |
Jellehierck | 43:1bd5417ded64 | 999 | global_curr_state = global_wait; |
Jellehierck | 43:1bd5417ded64 | 1000 | global_state_changed = true; |
Jellehierck | 43:1bd5417ded64 | 1001 | } |
Jellehierck | 43:1bd5417ded64 | 1002 | } |
Jellehierck | 43:1bd5417ded64 | 1003 | |
Jellehierck | 44:342af9b3c1a0 | 1004 | void do_demo_motor_cal() |
Jellehierck | 44:342af9b3c1a0 | 1005 | { |
Jellehierck | 43:1bd5417ded64 | 1006 | // Entry function |
Jellehierck | 43:1bd5417ded64 | 1007 | if ( demo_state_changed == true ) { |
Jellehierck | 43:1bd5417ded64 | 1008 | demo_state_changed = false; |
Jellehierck | 43:1bd5417ded64 | 1009 | } |
Jellehierck | 43:1bd5417ded64 | 1010 | |
Jellehierck | 43:1bd5417ded64 | 1011 | // Do stuff until end condition is met |
Jellehierck | 43:1bd5417ded64 | 1012 | motor_state_machine(); |
Jellehierck | 43:1bd5417ded64 | 1013 | |
Jellehierck | 43:1bd5417ded64 | 1014 | // State transition guard |
Jellehierck | 44:342af9b3c1a0 | 1015 | if ( motor_cal_done == true ) { // demo_wait |
Jellehierck | 43:1bd5417ded64 | 1016 | demo_curr_state = demo_wait; |
Jellehierck | 43:1bd5417ded64 | 1017 | demo_state_changed = true; |
Jellehierck | 43:1bd5417ded64 | 1018 | } |
Jellehierck | 43:1bd5417ded64 | 1019 | } |
Jellehierck | 43:1bd5417ded64 | 1020 | |
Jellehierck | 44:342af9b3c1a0 | 1021 | void do_demo_XY() |
Jellehierck | 44:342af9b3c1a0 | 1022 | { |
Jellehierck | 43:1bd5417ded64 | 1023 | // Entry function |
Jellehierck | 43:1bd5417ded64 | 1024 | if ( demo_state_changed == true ) { |
Jellehierck | 43:1bd5417ded64 | 1025 | demo_state_changed = false; |
Jellehierck | 43:1bd5417ded64 | 1026 | } |
Jellehierck | 43:1bd5417ded64 | 1027 | |
Jellehierck | 43:1bd5417ded64 | 1028 | // Do stuff until end condition is met |
BasB | 48:31676da4be7a | 1029 | static float t = 0.0; |
Jellehierck | 43:1bd5417ded64 | 1030 | Vy = 10.0f * sin(1.0f*t); |
Jellehierck | 43:1bd5417ded64 | 1031 | Vx = 0.0f; |
Jellehierck | 43:1bd5417ded64 | 1032 | t += Ts; |
Jellehierck | 44:342af9b3c1a0 | 1033 | |
Jellehierck | 43:1bd5417ded64 | 1034 | PID_controller(); |
Jellehierck | 43:1bd5417ded64 | 1035 | motorControl(); |
Jellehierck | 43:1bd5417ded64 | 1036 | RKI(); |
Jellehierck | 43:1bd5417ded64 | 1037 | |
Jellehierck | 43:1bd5417ded64 | 1038 | // State transition guard |
Jellehierck | 44:342af9b3c1a0 | 1039 | if ( button1_pressed == true ) { // demo_wait |
Jellehierck | 44:342af9b3c1a0 | 1040 | button1_pressed = false; |
Jellehierck | 43:1bd5417ded64 | 1041 | demo_curr_state = demo_wait; |
Jellehierck | 43:1bd5417ded64 | 1042 | demo_state_changed = true; |
Jellehierck | 43:1bd5417ded64 | 1043 | } |
Jellehierck | 43:1bd5417ded64 | 1044 | } |
Jellehierck | 43:1bd5417ded64 | 1045 | |
Jellehierck | 43:1bd5417ded64 | 1046 | /* |
Jellehierck | 43:1bd5417ded64 | 1047 | ------------------------------ DEMO SUBSTATE MACHINE ------------------------------ |
Jellehierck | 43:1bd5417ded64 | 1048 | */ |
Jellehierck | 43:1bd5417ded64 | 1049 | |
Jellehierck | 43:1bd5417ded64 | 1050 | void demo_state_machine() |
Jellehierck | 43:1bd5417ded64 | 1051 | { |
Jellehierck | 43:1bd5417ded64 | 1052 | switch(demo_curr_state) { |
Jellehierck | 43:1bd5417ded64 | 1053 | case demo_wait: |
Jellehierck | 43:1bd5417ded64 | 1054 | do_demo_wait(); |
Jellehierck | 43:1bd5417ded64 | 1055 | break; |
Jellehierck | 43:1bd5417ded64 | 1056 | case demo_motor_cal: |
Jellehierck | 43:1bd5417ded64 | 1057 | do_demo_motor_cal(); |
Jellehierck | 43:1bd5417ded64 | 1058 | break; |
Jellehierck | 43:1bd5417ded64 | 1059 | case demo_XY: |
Jellehierck | 43:1bd5417ded64 | 1060 | do_demo_XY(); |
Jellehierck | 43:1bd5417ded64 | 1061 | break; |
Jellehierck | 43:1bd5417ded64 | 1062 | } |
Jellehierck | 43:1bd5417ded64 | 1063 | } |
Jellehierck | 43:1bd5417ded64 | 1064 | |
Jellehierck | 43:1bd5417ded64 | 1065 | /* |
Jellehierck | 37:806c7c8381a7 | 1066 | ------------------------------ GLOBAL STATE FUNCTIONS ------------------------------ |
Jellehierck | 15:421d3d9c563b | 1067 | */ |
Jellehierck | 25:a1be4cf2ab0b | 1068 | /* ALL STATES HAVE THE FOLLOWING FORM: |
Jellehierck | 25:a1be4cf2ab0b | 1069 | void do_state_function() { |
Jellehierck | 25:a1be4cf2ab0b | 1070 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1071 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1072 | global_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 1073 | // More functions |
Jellehierck | 25:a1be4cf2ab0b | 1074 | } |
Jellehierck | 25:a1be4cf2ab0b | 1075 | |
Jellehierck | 25:a1be4cf2ab0b | 1076 | // Do stuff until end condition is met |
Jellehierck | 25:a1be4cf2ab0b | 1077 | doStuff(); |
Jellehierck | 25:a1be4cf2ab0b | 1078 | |
Jellehierck | 25:a1be4cf2ab0b | 1079 | // State transition guard |
Jellehierck | 25:a1be4cf2ab0b | 1080 | if ( endCondition == true ) { |
Jellehierck | 37:806c7c8381a7 | 1081 | global_curr_state = next_state; |
Jellehierck | 37:806c7c8381a7 | 1082 | global_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 1083 | // More functions |
Jellehierck | 25:a1be4cf2ab0b | 1084 | } |
Jellehierck | 25:a1be4cf2ab0b | 1085 | } |
Jellehierck | 25:a1be4cf2ab0b | 1086 | */ |
Jellehierck | 25:a1be4cf2ab0b | 1087 | |
Jellehierck | 37:806c7c8381a7 | 1088 | // FAILURE MODE |
Jellehierck | 37:806c7c8381a7 | 1089 | void do_global_failure() |
Jellehierck | 7:7a088536f1c9 | 1090 | { |
Jellehierck | 37:806c7c8381a7 | 1091 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1092 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1093 | global_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 1094 | |
Jellehierck | 37:806c7c8381a7 | 1095 | failure_mode = true; // Set failure mode |
Jellehierck | 22:9079c6c0d898 | 1096 | } |
Jellehierck | 37:806c7c8381a7 | 1097 | |
Jellehierck | 37:806c7c8381a7 | 1098 | // Do stuff until end condition is met |
Jellehierck | 42:2937ad8f1032 | 1099 | motorKillPower(); |
Jellehierck | 37:806c7c8381a7 | 1100 | |
Jellehierck | 37:806c7c8381a7 | 1101 | // State transition guard |
Jellehierck | 37:806c7c8381a7 | 1102 | if ( false ) { // Never move to other state |
Jellehierck | 37:806c7c8381a7 | 1103 | global_curr_state = global_wait; |
Jellehierck | 37:806c7c8381a7 | 1104 | global_state_changed = true; |
Jellehierck | 37:806c7c8381a7 | 1105 | } |
Jellehierck | 25:a1be4cf2ab0b | 1106 | } |
Jellehierck | 25:a1be4cf2ab0b | 1107 | |
Jellehierck | 37:806c7c8381a7 | 1108 | // DEMO MODE |
Jellehierck | 37:806c7c8381a7 | 1109 | void do_global_demo() |
Jellehierck | 25:a1be4cf2ab0b | 1110 | { |
Jellehierck | 25:a1be4cf2ab0b | 1111 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1112 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1113 | global_state_changed = false; |
Jellehierck | 49:80970a03083b | 1114 | |
Jellehierck | 49:80970a03083b | 1115 | if ( motor_cal_done == true ) { |
Jellehierck | 49:80970a03083b | 1116 | demo_curr_state = demo_wait; |
Jellehierck | 49:80970a03083b | 1117 | } else if (motor_cal_done == false ) { |
Jellehierck | 49:80970a03083b | 1118 | demo_curr_state = demo_motor_cal; |
Jellehierck | 49:80970a03083b | 1119 | } |
Jellehierck | 49:80970a03083b | 1120 | demo_state_changed = true; |
Jellehierck | 37:806c7c8381a7 | 1121 | } |
Jellehierck | 37:806c7c8381a7 | 1122 | |
Jellehierck | 37:806c7c8381a7 | 1123 | // Do stuff until end condition is met |
Jellehierck | 46:8a8fa8e602a1 | 1124 | demo_state_machine(); |
Jellehierck | 46:8a8fa8e602a1 | 1125 | |
Jellehierck | 46:8a8fa8e602a1 | 1126 | scope.set(0, emg1 ); |
Jellehierck | 46:8a8fa8e602a1 | 1127 | scope.set(1, Vx ); |
Jellehierck | 46:8a8fa8e602a1 | 1128 | scope.set(2, emg2 ); |
Jellehierck | 46:8a8fa8e602a1 | 1129 | scope.set(3, Vy ); |
Jellehierck | 35:e82834e62e44 | 1130 | |
Jellehierck | 37:806c7c8381a7 | 1131 | // State transition guard |
Jellehierck | 37:806c7c8381a7 | 1132 | if ( switch2_pressed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1133 | switch2_pressed = false; |
Jellehierck | 37:806c7c8381a7 | 1134 | global_curr_state = global_wait; |
Jellehierck | 37:806c7c8381a7 | 1135 | global_state_changed = true; |
Jellehierck | 37:806c7c8381a7 | 1136 | } |
Jellehierck | 37:806c7c8381a7 | 1137 | } |
Jellehierck | 37:806c7c8381a7 | 1138 | |
Jellehierck | 37:806c7c8381a7 | 1139 | // WAIT MODE |
Jellehierck | 37:806c7c8381a7 | 1140 | void do_global_wait() |
Jellehierck | 37:806c7c8381a7 | 1141 | { |
Jellehierck | 37:806c7c8381a7 | 1142 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1143 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1144 | global_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 1145 | } |
Jellehierck | 25:a1be4cf2ab0b | 1146 | |
Jellehierck | 27:f18da01093c9 | 1147 | // Do nothing until end condition is met |
Jellehierck | 25:a1be4cf2ab0b | 1148 | |
Jellehierck | 37:806c7c8381a7 | 1149 | // State transition guard |
Jellehierck | 37:806c7c8381a7 | 1150 | if ( switch2_pressed == true ) { // DEMO MODE |
Jellehierck | 37:806c7c8381a7 | 1151 | switch2_pressed = false; |
Jellehierck | 37:806c7c8381a7 | 1152 | global_curr_state = global_demo; |
Jellehierck | 37:806c7c8381a7 | 1153 | global_state_changed = true; |
Jellehierck | 31:b5188b6d45db | 1154 | |
Jellehierck | 37:806c7c8381a7 | 1155 | } else if ( button1_pressed == true ) { // EMG CALIBRATION |
Jellehierck | 37:806c7c8381a7 | 1156 | button1_pressed = false; |
Jellehierck | 38:8b597ab8344f | 1157 | global_curr_state = global_emg_cal; |
Jellehierck | 37:806c7c8381a7 | 1158 | global_state_changed = true; |
Jellehierck | 31:b5188b6d45db | 1159 | |
Jellehierck | 37:806c7c8381a7 | 1160 | } else if ( button2_pressed == true ) { // MOTOR CALIBRATION |
Jellehierck | 37:806c7c8381a7 | 1161 | button2_pressed = false; |
Jellehierck | 38:8b597ab8344f | 1162 | global_curr_state = global_motor_cal; |
Jellehierck | 37:806c7c8381a7 | 1163 | global_state_changed = true; |
Jellehierck | 42:2937ad8f1032 | 1164 | |
Jellehierck | 39:f9042483b921 | 1165 | } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE |
Jellehierck | 39:f9042483b921 | 1166 | global_curr_state = global_operation; |
Jellehierck | 39:f9042483b921 | 1167 | global_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 1168 | } |
Jellehierck | 7:7a088536f1c9 | 1169 | } |
Jellehierck | 7:7a088536f1c9 | 1170 | |
Jellehierck | 37:806c7c8381a7 | 1171 | // EMG CALIBRATION MODE |
Jellehierck | 38:8b597ab8344f | 1172 | void do_global_emg_cal() |
Jellehierck | 21:e4569b47945e | 1173 | { |
Jellehierck | 37:806c7c8381a7 | 1174 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1175 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1176 | global_state_changed = false; |
Jellehierck | 22:9079c6c0d898 | 1177 | } |
Jellehierck | 7:7a088536f1c9 | 1178 | |
Jellehierck | 39:f9042483b921 | 1179 | // Run EMG state machine until emg_cal_done flag is true |
Jellehierck | 39:f9042483b921 | 1180 | emg_state_machine(); |
Jellehierck | 31:b5188b6d45db | 1181 | |
Jellehierck | 29:f51683a6cbbf | 1182 | // State transition guard |
Jellehierck | 39:f9042483b921 | 1183 | if ( emg_cal_done == true ) { // WAIT MODE |
Jellehierck | 37:806c7c8381a7 | 1184 | global_curr_state = global_wait; |
Jellehierck | 37:806c7c8381a7 | 1185 | global_state_changed = true; |
Jellehierck | 25:a1be4cf2ab0b | 1186 | } |
Jellehierck | 25:a1be4cf2ab0b | 1187 | } |
Jellehierck | 23:8a0a0b959af1 | 1188 | |
Jellehierck | 37:806c7c8381a7 | 1189 | // MOTOR CALIBRATION MODE |
Jellehierck | 38:8b597ab8344f | 1190 | void do_global_motor_cal() |
Jellehierck | 26:7e81c7db6e7a | 1191 | { |
Jellehierck | 25:a1be4cf2ab0b | 1192 | // Entry function |
Jellehierck | 37:806c7c8381a7 | 1193 | if ( global_state_changed == true ) { |
Jellehierck | 37:806c7c8381a7 | 1194 | global_state_changed = false; |
Jellehierck | 25:a1be4cf2ab0b | 1195 | } |
Jellehierck | 25:a1be4cf2ab0b | 1196 | |
Jellehierck | 25:a1be4cf2ab0b | 1197 | // Do stuff until end condition is met |
Jellehierck | 40:c6dffb676350 | 1198 | motor_state_machine(); |
Jellehierck | 28:59e8266f4633 | 1199 | |
Jellehierck | 25:a1be4cf2ab0b | 1200 | // State transition guard |
Jellehierck | 41:8e8141f355af | 1201 | if ( motor_cal_done == true ) { // WAIT MODE |
Jellehierck | 37:806c7c8381a7 | 1202 | global_curr_state = global_wait; |
Jellehierck | 37:806c7c8381a7 | 1203 | global_state_changed = true; |
Jellehierck | 23:8a0a0b959af1 | 1204 | } |
Jellehierck | 23:8a0a0b959af1 | 1205 | } |
Jellehierck | 23:8a0a0b959af1 | 1206 | |
Jellehierck | 37:806c7c8381a7 | 1207 | // OPERATION MODE |
Jellehierck | 37:806c7c8381a7 | 1208 | void do_global_operation() |
Jellehierck | 37:806c7c8381a7 | 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 | 40:c6dffb676350 | 1213 | |
Jellehierck | 39:f9042483b921 | 1214 | emg_sampleNow = true; // Enable signal sampling in sampleSignals() |
Jellehierck | 39:f9042483b921 | 1215 | emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() |
Jellehierck | 37:806c7c8381a7 | 1216 | } |
Jellehierck | 37:806c7c8381a7 | 1217 | |
Jellehierck | 37:806c7c8381a7 | 1218 | // Do stuff until end condition is met |
Jellehierck | 43:1bd5417ded64 | 1219 | operation_state_machine(); |
Jellehierck | 42:2937ad8f1032 | 1220 | |
Jellehierck | 39:f9042483b921 | 1221 | // Set HIDScope outputs |
Jellehierck | 39:f9042483b921 | 1222 | scope.set(0, emg1 ); |
Jellehierck | 41:8e8141f355af | 1223 | scope.set(1, Vx ); |
Jellehierck | 41:8e8141f355af | 1224 | scope.set(2, emg2 ); |
Jellehierck | 41:8e8141f355af | 1225 | scope.set(3, Vy ); |
Jellehierck | 39:f9042483b921 | 1226 | scope.send(); |
Jellehierck | 39:f9042483b921 | 1227 | |
Jellehierck | 39:f9042483b921 | 1228 | led_g = !led_g; |
Jellehierck | 37:806c7c8381a7 | 1229 | |
Jellehierck | 37:806c7c8381a7 | 1230 | // State transition guard |
Jellehierck | 37:806c7c8381a7 | 1231 | if ( false ) { // Always stay in operation mode (can be changed) |
Jellehierck | 37:806c7c8381a7 | 1232 | global_curr_state = global_wait; |
Jellehierck | 37:806c7c8381a7 | 1233 | global_state_changed = true; |
Jellehierck | 37:806c7c8381a7 | 1234 | } |
Jellehierck | 37:806c7c8381a7 | 1235 | } |
Jellehierck | 23:8a0a0b959af1 | 1236 | /* |
Jellehierck | 37:806c7c8381a7 | 1237 | ------------------------------ GLOBAL STATE MACHINE ------------------------------ |
Jellehierck | 23:8a0a0b959af1 | 1238 | */ |
Jellehierck | 37:806c7c8381a7 | 1239 | void global_state_machine() |
Jellehierck | 23:8a0a0b959af1 | 1240 | { |
Jellehierck | 37:806c7c8381a7 | 1241 | switch(global_curr_state) { |
Jellehierck | 37:806c7c8381a7 | 1242 | case global_failure: |
Jellehierck | 37:806c7c8381a7 | 1243 | do_global_failure(); |
Jellehierck | 23:8a0a0b959af1 | 1244 | break; |
Jellehierck | 37:806c7c8381a7 | 1245 | case global_wait: |
Jellehierck | 37:806c7c8381a7 | 1246 | do_global_wait(); |
Jellehierck | 37:806c7c8381a7 | 1247 | break; |
Jellehierck | 38:8b597ab8344f | 1248 | case global_emg_cal: |
Jellehierck | 38:8b597ab8344f | 1249 | do_global_emg_cal(); |
Jellehierck | 23:8a0a0b959af1 | 1250 | break; |
Jellehierck | 38:8b597ab8344f | 1251 | case global_motor_cal: |
Jellehierck | 38:8b597ab8344f | 1252 | do_global_motor_cal(); |
Jellehierck | 23:8a0a0b959af1 | 1253 | break; |
Jellehierck | 37:806c7c8381a7 | 1254 | case global_operation: |
Jellehierck | 37:806c7c8381a7 | 1255 | do_global_operation(); |
Jellehierck | 37:806c7c8381a7 | 1256 | break; |
Jellehierck | 37:806c7c8381a7 | 1257 | case global_demo: |
Jellehierck | 37:806c7c8381a7 | 1258 | do_global_demo(); |
Jellehierck | 23:8a0a0b959af1 | 1259 | break; |
Jellehierck | 23:8a0a0b959af1 | 1260 | } |
Jellehierck | 23:8a0a0b959af1 | 1261 | } |
Jellehierck | 23:8a0a0b959af1 | 1262 | |
Jellehierck | 38:8b597ab8344f | 1263 | /* |
Jellehierck | 38:8b597ab8344f | 1264 | ------------------------------ READ SAMPLES ------------------------------ |
Jellehierck | 38:8b597ab8344f | 1265 | */ |
Jellehierck | 38:8b597ab8344f | 1266 | void sampleSignals() |
Jellehierck | 38:8b597ab8344f | 1267 | { |
Jellehierck | 38:8b597ab8344f | 1268 | if (emg_sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations |
Jellehierck | 38:8b597ab8344f | 1269 | // Read EMG inputs |
Jellehierck | 38:8b597ab8344f | 1270 | emg1 = emg1_in.read(); |
Jellehierck | 38:8b597ab8344f | 1271 | emg2 = emg2_in.read(); |
Jellehierck | 38:8b597ab8344f | 1272 | emg3 = emg3_in.read(); |
Jellehierck | 45:d09040915cfe | 1273 | emg4 = emg4_in.read(); |
Jellehierck | 38:8b597ab8344f | 1274 | |
Jellehierck | 38:8b597ab8344f | 1275 | double emg1_n = bqc1_notch.step( emg1 ); // Filter notch |
Jellehierck | 38:8b597ab8344f | 1276 | double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass |
Jellehierck | 38:8b597ab8344f | 1277 | double emg1_rectify = fabs( emg1_hp ); // Rectify |
Jellehierck | 38:8b597ab8344f | 1278 | emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 38:8b597ab8344f | 1279 | |
Jellehierck | 38:8b597ab8344f | 1280 | double emg2_n = bqc2_notch.step( emg2 ); // Filter notch |
Jellehierck | 38:8b597ab8344f | 1281 | double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass |
Jellehierck | 38:8b597ab8344f | 1282 | double emg2_rectify = fabs( emg2_hp ); // Rectify |
Jellehierck | 38:8b597ab8344f | 1283 | emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 38:8b597ab8344f | 1284 | |
Jellehierck | 38:8b597ab8344f | 1285 | double emg3_n = bqc3_notch.step( emg3 ); // Filter notch |
Jellehierck | 38:8b597ab8344f | 1286 | double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass |
Jellehierck | 38:8b597ab8344f | 1287 | double emg3_rectify = fabs( emg3_hp ); // Rectify |
Jellehierck | 38:8b597ab8344f | 1288 | emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 45:d09040915cfe | 1289 | |
Jellehierck | 45:d09040915cfe | 1290 | double emg4_n = bqc4_notch.step( emg4 ); // Filter notch |
Jellehierck | 45:d09040915cfe | 1291 | double emg4_hp = bqc4_high.step( emg4_n ); // Filter highpass |
Jellehierck | 45:d09040915cfe | 1292 | double emg4_rectify = fabs( emg4_hp ); // Rectify |
Jellehierck | 45:d09040915cfe | 1293 | emg4_env = bqc4_low.step( emg4_rectify ); // Filter lowpass (completes envelope) |
Jellehierck | 38:8b597ab8344f | 1294 | |
Jellehierck | 38:8b597ab8344f | 1295 | if (emg_calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true |
Jellehierck | 38:8b597ab8344f | 1296 | emg1_cal.push_back(emg1_env); // Add values to calibration vector |
Jellehierck | 38:8b597ab8344f | 1297 | emg2_cal.push_back(emg2_env); // Add values to calibration vector |
Jellehierck | 38:8b597ab8344f | 1298 | emg3_cal.push_back(emg3_env); // Add values to calibration vector |
Jellehierck | 45:d09040915cfe | 1299 | emg4_cal.push_back(emg4_env); // Add values to calibration vector |
Jellehierck | 38:8b597ab8344f | 1300 | } |
Jellehierck | 38:8b597ab8344f | 1301 | } |
Jellehierck | 40:c6dffb676350 | 1302 | |
Jellehierck | 40:c6dffb676350 | 1303 | counts1af = encoder1.getPulses(); |
Jellehierck | 40:c6dffb676350 | 1304 | deltaCounts1 = counts1af - countsPrev1; |
Jellehierck | 40:c6dffb676350 | 1305 | countsPrev1 = counts1af; |
Jellehierck | 40:c6dffb676350 | 1306 | |
Jellehierck | 40:c6dffb676350 | 1307 | counts2af = encoder2.getPulses(); |
Jellehierck | 40:c6dffb676350 | 1308 | deltaCounts2 = counts2af - countsPrev2; |
Jellehierck | 40:c6dffb676350 | 1309 | countsPrev2 = counts2af; |
Jellehierck | 38:8b597ab8344f | 1310 | } |
Jellehierck | 37:806c7c8381a7 | 1311 | |
Jellehierck | 37:806c7c8381a7 | 1312 | /* |
Jellehierck | 37:806c7c8381a7 | 1313 | ------------------------------ GLOBAL PROGRAM LOOP ------------------------------ |
Jellehierck | 37:806c7c8381a7 | 1314 | */ |
Jellehierck | 25:a1be4cf2ab0b | 1315 | void tickGlobalFunc() |
Jellehierck | 25:a1be4cf2ab0b | 1316 | { |
Jellehierck | 38:8b597ab8344f | 1317 | sampleSignals(); |
Jellehierck | 37:806c7c8381a7 | 1318 | global_state_machine(); |
BasB | 47:63b5ccd969e9 | 1319 | changeservo(); |
Jellehierck | 25:a1be4cf2ab0b | 1320 | // controller(); |
Jellehierck | 25:a1be4cf2ab0b | 1321 | // outputToMotors(); |
Jellehierck | 25:a1be4cf2ab0b | 1322 | } |
Jellehierck | 25:a1be4cf2ab0b | 1323 | |
Jellehierck | 37:806c7c8381a7 | 1324 | /* |
Jellehierck | 37:806c7c8381a7 | 1325 | ------------------------------ MAIN FUNCTION ------------------------------ |
Jellehierck | 37:806c7c8381a7 | 1326 | */ |
Jellehierck | 39:f9042483b921 | 1327 | int main() |
Jellehierck | 23:8a0a0b959af1 | 1328 | { |
Jellehierck | 23:8a0a0b959af1 | 1329 | pc.baud(115200); // MODSERIAL rate |
Jellehierck | 23:8a0a0b959af1 | 1330 | pc.printf("Starting\r\n"); |
Jellehierck | 23:8a0a0b959af1 | 1331 | |
Jellehierck | 37:806c7c8381a7 | 1332 | global_curr_state = global_wait; // Start off in EMG Wait state |
Jellehierck | 34:13fac02ef324 | 1333 | tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker |
Jellehierck | 8:ea3de43c9e8b | 1334 | |
BasB | 48:31676da4be7a | 1335 | // ---------- Enable Servo ---------- |
BasB | 48:31676da4be7a | 1336 | myservo.Enable(1000,20000); |
BasB | 48:31676da4be7a | 1337 | |
Jellehierck | 38:8b597ab8344f | 1338 | // ---------- Attach filters ---------- |
Jellehierck | 38:8b597ab8344f | 1339 | bqc1_notch.add( &bq1_notch ); |
Jellehierck | 38:8b597ab8344f | 1340 | bqc1_high.add( &bq1_H1 ).add( &bq1_H2 ); |
Jellehierck | 38:8b597ab8344f | 1341 | bqc1_low.add( &bq1_L1 ).add( &bq1_L2 ); |
Jellehierck | 38:8b597ab8344f | 1342 | |
Jellehierck | 38:8b597ab8344f | 1343 | bqc2_notch.add( &bq2_notch ); |
Jellehierck | 38:8b597ab8344f | 1344 | bqc2_high.add( &bq2_H1 ).add( &bq2_H2 ); |
Jellehierck | 38:8b597ab8344f | 1345 | bqc2_low.add( &bq2_L1 ).add( &bq2_L2 ); |
Jellehierck | 38:8b597ab8344f | 1346 | |
Jellehierck | 38:8b597ab8344f | 1347 | bqc3_notch.add( &bq3_notch ); |
Jellehierck | 38:8b597ab8344f | 1348 | bqc3_high.add( &bq3_H1 ).add( &bq3_H2 ); |
Jellehierck | 38:8b597ab8344f | 1349 | bqc3_low.add( &bq3_L1 ).add( &bq3_L2 ); |
Jellehierck | 45:d09040915cfe | 1350 | |
Jellehierck | 45:d09040915cfe | 1351 | bqc4_notch.add( &bq4_notch ); |
Jellehierck | 45:d09040915cfe | 1352 | bqc4_high.add( &bq4_H1 ).add( &bq4_H2 ); |
Jellehierck | 45:d09040915cfe | 1353 | bqc4_low.add( &bq4_L1 ).add( &bq4_L2 ); |
Jellehierck | 38:8b597ab8344f | 1354 | |
Jellehierck | 38:8b597ab8344f | 1355 | // ---------- Attach buttons ---------- |
Jellehierck | 37:806c7c8381a7 | 1356 | button1.fall( &button1Press ); |
Jellehierck | 37:806c7c8381a7 | 1357 | button2.fall( &button2Press ); |
Jellehierck | 37:806c7c8381a7 | 1358 | switch2.fall( &switch2Press ); |
Jellehierck | 37:806c7c8381a7 | 1359 | switch3.fall( &switch3Press ); |
BasB | 47:63b5ccd969e9 | 1360 | extButton1.mode(PullUp); |
Jellehierck | 42:2937ad8f1032 | 1361 | |
Jellehierck | 40:c6dffb676350 | 1362 | // ---------- Attach PWM ---------- |
Jellehierck | 40:c6dffb676350 | 1363 | motor1Power.period(PWM_period); |
Jellehierck | 40:c6dffb676350 | 1364 | motor2Power.period(PWM_period); |
Jellehierck | 40:c6dffb676350 | 1365 | |
Jellehierck | 38:8b597ab8344f | 1366 | // ---------- Turn OFF LEDs ---------- |
Jellehierck | 38:8b597ab8344f | 1367 | led_b = 1; |
Jellehierck | 38:8b597ab8344f | 1368 | led_g = 1; |
Jellehierck | 38:8b597ab8344f | 1369 | led_r = 1; |
Jellehierck | 37:806c7c8381a7 | 1370 | |
Jellehierck | 23:8a0a0b959af1 | 1371 | while(true) { |
Jellehierck | 45:d09040915cfe | 1372 | 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); |
BasB | 47:63b5ccd969e9 | 1373 | //pc.printf("EMG1 direction: %f EMG2 direction: %f \r\n", emg1_dir, emg2_dir); |
BasB | 47:63b5ccd969e9 | 1374 | pc.printf("q1: %f q2: %f \r\n",q1*rad2deg,q2*rad2deg); |
BasB | 48:31676da4be7a | 1375 | pc.printf("Motor1ref: %f Motor1angle: %f\r\n",motor1_ref*rad2deg/5.5f,motor1_angle*rad2deg/5.5f); |
BasB | 48:31676da4be7a | 1376 | pc.printf("Motor2ref: %f Motor2angle: %f\r\n",motor2_ref*rad2deg/2.75f,motor2_angle*rad2deg/2.75f); |
BasB | 47:63b5ccd969e9 | 1377 | |
Jellehierck | 45:d09040915cfe | 1378 | //pc.printf("Xe: %f Ye: %f\r\n",xe,ye); |
Jellehierck | 30:bac3b60d6283 | 1379 | wait(0.5f); |
Jellehierck | 23:8a0a0b959af1 | 1380 | } |
Jellehierck | 23:8a0a0b959af1 | 1381 | } |