De hele robot in 1 keer bam

Dependencies:   mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM

Committer:
Jellehierck
Date:
Fri Nov 01 00:05:58 2019 +0000
Revision:
57:d0d65376140f
Parent:
56:3f29502fcb55
Child:
58:8d8a98ec2904
Last changes to buttons and LEDs

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 57:d0d65376140f 63 Timer timerStateChange; // Set timer for various state changes
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 57:d0d65376140f 103 bool exit_demo = false;
Jellehierck 43:1bd5417ded64 104
Jellehierck 37:806c7c8381a7 105 // Button press interrupts (to prevent bounce)
Jellehierck 37:806c7c8381a7 106 bool button1_pressed = false;
Jellehierck 37:806c7c8381a7 107 bool button2_pressed = false;
Jellehierck 37:806c7c8381a7 108 bool switch2_pressed = false;
Jellehierck 53:35282a3e0cad 109 bool servo_button1;
Jellehierck 7:7a088536f1c9 110
Jellehierck 51:7fe2659a1fcb 111 // LED states
Jellehierck 51:7fe2659a1fcb 112 enum LED_Colors { off, red, green, blue, purple, yellow, cyan, white }; // Define possible LED colors
Jellehierck 51:7fe2659a1fcb 113 LED_Colors curr_led_color; // Initialize LED color variable
Jellehierck 51:7fe2659a1fcb 114 bool led_color_changed = true; // Enable LED entry functions
Jellehierck 51:7fe2659a1fcb 115
Jellehierck 38:8b597ab8344f 116 // Global constants
Jellehierck 38:8b597ab8344f 117 const double Fs = 500.0;
Jellehierck 38:8b597ab8344f 118 const double Ts = 1/Fs;
Jellehierck 35:e82834e62e44 119
Jellehierck 35:e82834e62e44 120 /*
Jellehierck 51:7fe2659a1fcb 121 ------------------------------ LED COLOR FUNCTIONS ------------------------------
Jellehierck 51:7fe2659a1fcb 122 */
Jellehierck 51:7fe2659a1fcb 123 // Only called once when color is changed
Jellehierck 51:7fe2659a1fcb 124 void set_led_color(char color)
Jellehierck 51:7fe2659a1fcb 125 {
Jellehierck 51:7fe2659a1fcb 126 switch(color) {
Jellehierck 51:7fe2659a1fcb 127 case 'o':
Jellehierck 51:7fe2659a1fcb 128 curr_led_color = off;
Jellehierck 51:7fe2659a1fcb 129 break;
Jellehierck 51:7fe2659a1fcb 130 case 'r':
Jellehierck 51:7fe2659a1fcb 131 curr_led_color = red;
Jellehierck 51:7fe2659a1fcb 132 break;
Jellehierck 51:7fe2659a1fcb 133 case 'b':
Jellehierck 51:7fe2659a1fcb 134 curr_led_color = blue;
Jellehierck 51:7fe2659a1fcb 135 break;
Jellehierck 51:7fe2659a1fcb 136 case 'g':
Jellehierck 51:7fe2659a1fcb 137 curr_led_color = green;
Jellehierck 51:7fe2659a1fcb 138 break;
Jellehierck 51:7fe2659a1fcb 139 case 'y':
Jellehierck 51:7fe2659a1fcb 140 curr_led_color = yellow;
Jellehierck 51:7fe2659a1fcb 141 break;
Jellehierck 51:7fe2659a1fcb 142 case 'p':
Jellehierck 51:7fe2659a1fcb 143 curr_led_color = purple;
Jellehierck 51:7fe2659a1fcb 144 break;
Jellehierck 51:7fe2659a1fcb 145 case 'c':
Jellehierck 51:7fe2659a1fcb 146 curr_led_color = cyan;
Jellehierck 51:7fe2659a1fcb 147 break;
Jellehierck 51:7fe2659a1fcb 148 case 'w':
Jellehierck 51:7fe2659a1fcb 149 curr_led_color = white;
Jellehierck 51:7fe2659a1fcb 150 break;
Jellehierck 51:7fe2659a1fcb 151
Jellehierck 51:7fe2659a1fcb 152 }
Jellehierck 51:7fe2659a1fcb 153 led_color_changed = true;
Jellehierck 51:7fe2659a1fcb 154 }
Jellehierck 51:7fe2659a1fcb 155
Jellehierck 51:7fe2659a1fcb 156 // Run constantly
Jellehierck 51:7fe2659a1fcb 157 void disp_led_color()
Jellehierck 51:7fe2659a1fcb 158 {
Jellehierck 51:7fe2659a1fcb 159 if (led_color_changed == true) {
Jellehierck 51:7fe2659a1fcb 160 led_color_changed = false;
Jellehierck 51:7fe2659a1fcb 161 led_g = 1;
Jellehierck 51:7fe2659a1fcb 162 led_b = 1;
Jellehierck 51:7fe2659a1fcb 163 led_r = 1;
Jellehierck 51:7fe2659a1fcb 164 }
Jellehierck 51:7fe2659a1fcb 165 switch(curr_led_color) {
Jellehierck 51:7fe2659a1fcb 166 case off:
Jellehierck 51:7fe2659a1fcb 167 break;
Jellehierck 51:7fe2659a1fcb 168 case red:
Jellehierck 51:7fe2659a1fcb 169 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 170 break;
Jellehierck 51:7fe2659a1fcb 171 case blue:
Jellehierck 51:7fe2659a1fcb 172 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 173 break;
Jellehierck 51:7fe2659a1fcb 174 case green:
Jellehierck 51:7fe2659a1fcb 175 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 176 break;
Jellehierck 51:7fe2659a1fcb 177 case yellow:
Jellehierck 51:7fe2659a1fcb 178 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 179 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 180 break;
Jellehierck 51:7fe2659a1fcb 181 case purple:
Jellehierck 51:7fe2659a1fcb 182 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 183 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 184 break;
Jellehierck 51:7fe2659a1fcb 185 case cyan:
Jellehierck 51:7fe2659a1fcb 186 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 187 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 188 break;
Jellehierck 51:7fe2659a1fcb 189 case white:
Jellehierck 51:7fe2659a1fcb 190 led_r = !led_r;
Jellehierck 51:7fe2659a1fcb 191 led_g = !led_g;
Jellehierck 51:7fe2659a1fcb 192 led_b = !led_b;
Jellehierck 51:7fe2659a1fcb 193 break;
Jellehierck 51:7fe2659a1fcb 194 }
Jellehierck 51:7fe2659a1fcb 195 }
Jellehierck 51:7fe2659a1fcb 196
Jellehierck 51:7fe2659a1fcb 197 /*
Jellehierck 37:806c7c8381a7 198 ------------------------------ HELPER FUNCTIONS ------------------------------
Jellehierck 37:806c7c8381a7 199 */
Jellehierck 38:8b597ab8344f 200 // Empty placeholder function, needs to be deleted at end of project
Jellehierck 38:8b597ab8344f 201 void doStuff() {}
Jellehierck 38:8b597ab8344f 202
Jellehierck 38:8b597ab8344f 203 // Return max value of vector
Jellehierck 38:8b597ab8344f 204 double getMax(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 205 {
Jellehierck 38:8b597ab8344f 206 double curr_max = 0.0;
Jellehierck 38:8b597ab8344f 207 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 208 for (int i = 0; i < vect_n; i++) {
Jellehierck 38:8b597ab8344f 209 if (vect[i] > curr_max) {
Jellehierck 38:8b597ab8344f 210 curr_max = vect[i];
Jellehierck 38:8b597ab8344f 211 };
Jellehierck 38:8b597ab8344f 212 }
Jellehierck 38:8b597ab8344f 213 return curr_max;
Jellehierck 38:8b597ab8344f 214 }
Jellehierck 37:806c7c8381a7 215
Jellehierck 38:8b597ab8344f 216 // Return mean of vector
Jellehierck 38:8b597ab8344f 217 double getMean(const vector<double> &vect)
Jellehierck 38:8b597ab8344f 218 {
Jellehierck 38:8b597ab8344f 219 double sum = 0.0;
Jellehierck 38:8b597ab8344f 220 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 221 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 222 sum += vect[i];
Jellehierck 38:8b597ab8344f 223 }
Jellehierck 38:8b597ab8344f 224 return sum/vect_n;
Jellehierck 38:8b597ab8344f 225 }
Jellehierck 37:806c7c8381a7 226
Jellehierck 38:8b597ab8344f 227 // Return standard deviation of vector
Jellehierck 38:8b597ab8344f 228 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 38:8b597ab8344f 229 {
Jellehierck 38:8b597ab8344f 230 double sum2 = 0.0;
Jellehierck 38:8b597ab8344f 231 int vect_n = vect.size();
Jellehierck 38:8b597ab8344f 232 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 38:8b597ab8344f 233 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 38:8b597ab8344f 234 }
Jellehierck 38:8b597ab8344f 235 double output = sqrt( sum2 / vect_n );
Jellehierck 38:8b597ab8344f 236 return output;
Jellehierck 38:8b597ab8344f 237 }
Jellehierck 38:8b597ab8344f 238
Jellehierck 38:8b597ab8344f 239 // Rescale double values to certain range
Jellehierck 38:8b597ab8344f 240 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 38:8b597ab8344f 241 {
Jellehierck 38:8b597ab8344f 242 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 38:8b597ab8344f 243 return output;
Jellehierck 38:8b597ab8344f 244 }
Jellehierck 37:806c7c8381a7 245
Jellehierck 37:806c7c8381a7 246 /*
Jellehierck 37:806c7c8381a7 247 ------------------------------ BUTTON FUNCTIONS ------------------------------
Jellehierck 35:e82834e62e44 248 */
Jellehierck 35:e82834e62e44 249
Jellehierck 25:a1be4cf2ab0b 250 // Handle button press
Jellehierck 25:a1be4cf2ab0b 251 void button1Press()
Jellehierck 25:a1be4cf2ab0b 252 {
Jellehierck 25:a1be4cf2ab0b 253 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 254 }
Jellehierck 25:a1be4cf2ab0b 255
Jellehierck 25:a1be4cf2ab0b 256 // Handle button press
Jellehierck 25:a1be4cf2ab0b 257 void button2Press()
Jellehierck 25:a1be4cf2ab0b 258 {
Jellehierck 25:a1be4cf2ab0b 259 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 260 }
Jellehierck 25:a1be4cf2ab0b 261
Jellehierck 37:806c7c8381a7 262 void switch2Press()
Jellehierck 6:5437cc97e1e6 263 {
Jellehierck 37:806c7c8381a7 264 switch2_pressed = true;
Jellehierck 35:e82834e62e44 265 }
Jellehierck 6:5437cc97e1e6 266
Jellehierck 37:806c7c8381a7 267 void switch3Press()
Jellehierck 35:e82834e62e44 268 {
Jellehierck 37:806c7c8381a7 269 global_curr_state = global_failure;
Jellehierck 37:806c7c8381a7 270 global_state_changed = true;
Jellehierck 6:5437cc97e1e6 271 }
Jellehierck 6:5437cc97e1e6 272
Jellehierck 15:421d3d9c563b 273 /*
Jellehierck 38:8b597ab8344f 274 ------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 38:8b597ab8344f 275 */
Jellehierck 38:8b597ab8344f 276
Jellehierck 38:8b597ab8344f 277 // Set global constant values for EMG reading & analysis
Jellehierck 41:8e8141f355af 278 const double Tcal = 7.5f; // Calibration duration (s)
Jellehierck 38:8b597ab8344f 279
Jellehierck 38:8b597ab8344f 280 // Initialize variables for EMG reading & analysis
Jellehierck 38:8b597ab8344f 281 double emg1;
Jellehierck 38:8b597ab8344f 282 double emg1_env;
Jellehierck 38:8b597ab8344f 283 double emg1_MVC;
Jellehierck 38:8b597ab8344f 284 double emg1_rest;
Jellehierck 38:8b597ab8344f 285 double emg1_factor;//delete
Jellehierck 38:8b597ab8344f 286 double emg1_th;
Jellehierck 38:8b597ab8344f 287 double emg1_out;
Jellehierck 38:8b597ab8344f 288 double emg1_norm; //delete
Jellehierck 38:8b597ab8344f 289 vector<double> emg1_cal;
Jellehierck 38:8b597ab8344f 290 int emg1_cal_size; //delete
Jellehierck 41:8e8141f355af 291 double emg1_dir = 1.0;
Jellehierck 38:8b597ab8344f 292
Jellehierck 38:8b597ab8344f 293 double emg2;
Jellehierck 38:8b597ab8344f 294 double emg2_env;
Jellehierck 38:8b597ab8344f 295 double emg2_MVC;
Jellehierck 38:8b597ab8344f 296 double emg2_rest;
Jellehierck 38:8b597ab8344f 297 double emg2_factor;//delete
Jellehierck 38:8b597ab8344f 298 double emg2_th;
Jellehierck 38:8b597ab8344f 299 double emg2_out;
Jellehierck 38:8b597ab8344f 300 double emg2_norm;//delete
Jellehierck 38:8b597ab8344f 301 vector<double> emg2_cal;
Jellehierck 38:8b597ab8344f 302 int emg2_cal_size;//delete
Jellehierck 41:8e8141f355af 303 double emg2_dir = 1.0;
Jellehierck 38:8b597ab8344f 304
Jellehierck 38:8b597ab8344f 305 double emg3;
Jellehierck 38:8b597ab8344f 306 double emg3_env;
Jellehierck 38:8b597ab8344f 307 double emg3_MVC;
Jellehierck 38:8b597ab8344f 308 double emg3_rest;
Jellehierck 38:8b597ab8344f 309 double emg3_factor;//delete
Jellehierck 38:8b597ab8344f 310 double emg3_th;
Jellehierck 38:8b597ab8344f 311 double emg3_out;
Jellehierck 38:8b597ab8344f 312 double emg3_norm;//delete
Jellehierck 38:8b597ab8344f 313 vector<double> emg3_cal;
Jellehierck 45:d09040915cfe 314
Jellehierck 45:d09040915cfe 315 double emg4;
Jellehierck 45:d09040915cfe 316 double emg4_env;
Jellehierck 45:d09040915cfe 317 double emg4_MVC;
Jellehierck 45:d09040915cfe 318 double emg4_rest;
Jellehierck 45:d09040915cfe 319 double emg4_factor;//delete
Jellehierck 45:d09040915cfe 320 double emg4_th;
Jellehierck 45:d09040915cfe 321 double emg4_out;
Jellehierck 45:d09040915cfe 322 double emg4_norm;//delete
Jellehierck 45:d09040915cfe 323 vector<double> emg4_cal;
Jellehierck 38:8b597ab8344f 324
Jellehierck 38:8b597ab8344f 325 /*
Jellehierck 38:8b597ab8344f 326 ------------------------------ EMG FILTERS ------------------------------
Jellehierck 38:8b597ab8344f 327 */
Jellehierck 38:8b597ab8344f 328
Jellehierck 38:8b597ab8344f 329 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 38:8b597ab8344f 330 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 331 BiQuad bq2_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 332 BiQuad bq3_notch = bq1_notch;
Jellehierck 45:d09040915cfe 333 BiQuad bq4_notch = bq1_notch;
Jellehierck 38:8b597ab8344f 334 BiQuadChain bqc1_notch;
Jellehierck 38:8b597ab8344f 335 BiQuadChain bqc2_notch;
Jellehierck 38:8b597ab8344f 336 BiQuadChain bqc3_notch;
Jellehierck 45:d09040915cfe 337 BiQuadChain bqc4_notch;
Jellehierck 38:8b597ab8344f 338
Jellehierck 38:8b597ab8344f 339 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 38:8b597ab8344f 340 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 38:8b597ab8344f 341 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 342 BiQuad bq2_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 343 BiQuad bq2_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 344 BiQuad bq3_H1 = bq1_H1;
Jellehierck 38:8b597ab8344f 345 BiQuad bq3_H2 = bq1_H2;
Jellehierck 45:d09040915cfe 346 BiQuad bq4_H1 = bq1_H1;
Jellehierck 45:d09040915cfe 347 BiQuad bq4_H2 = bq1_H2;
Jellehierck 38:8b597ab8344f 348 BiQuadChain bqc1_high;
Jellehierck 38:8b597ab8344f 349 BiQuadChain bqc2_high;
Jellehierck 38:8b597ab8344f 350 BiQuadChain bqc3_high;
Jellehierck 45:d09040915cfe 351 BiQuadChain bqc4_high;
Jellehierck 38:8b597ab8344f 352
Jellehierck 38:8b597ab8344f 353 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 38:8b597ab8344f 354 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 355 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 38:8b597ab8344f 356 BiQuad bq2_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 357 BiQuad bq2_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 358 BiQuad bq3_L1 = bq1_L1;
Jellehierck 38:8b597ab8344f 359 BiQuad bq3_L2 = bq1_L2;
Jellehierck 45:d09040915cfe 360 BiQuad bq4_L1 = bq1_L1;
Jellehierck 45:d09040915cfe 361 BiQuad bq4_L2 = bq1_L2;
Jellehierck 38:8b597ab8344f 362 BiQuadChain bqc1_low;
Jellehierck 38:8b597ab8344f 363 BiQuadChain bqc2_low;
Jellehierck 38:8b597ab8344f 364 BiQuadChain bqc3_low;
Jellehierck 45:d09040915cfe 365 BiQuadChain bqc4_low;
Jellehierck 38:8b597ab8344f 366
Jellehierck 38:8b597ab8344f 367 // Function to check filter stability
Jellehierck 38:8b597ab8344f 368 bool checkBQChainStable()
Jellehierck 38:8b597ab8344f 369 {
Jellehierck 38:8b597ab8344f 370 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 38:8b597ab8344f 371 bool hp_stable = bqc1_high.stable();
Jellehierck 38:8b597ab8344f 372 bool l_stable = bqc1_low.stable();
Jellehierck 38:8b597ab8344f 373
Jellehierck 38:8b597ab8344f 374 if (n_stable && hp_stable && l_stable) {
Jellehierck 38:8b597ab8344f 375 return true;
Jellehierck 38:8b597ab8344f 376 } else {
Jellehierck 38:8b597ab8344f 377 return false;
Jellehierck 38:8b597ab8344f 378 }
Jellehierck 38:8b597ab8344f 379 }
Jellehierck 42:2937ad8f1032 380
Jellehierck 42:2937ad8f1032 381 /*
Jellehierck 42:2937ad8f1032 382 ------------------------------ EMG GLOBAL FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 383 */
Jellehierck 42:2937ad8f1032 384
Jellehierck 42:2937ad8f1032 385 void EMGOperationFunc()
Jellehierck 42:2937ad8f1032 386 {
Jellehierck 42:2937ad8f1032 387 emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor
Jellehierck 42:2937ad8f1032 388 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 42:2937ad8f1032 389 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 45:d09040915cfe 390 emg4_norm = emg4_env * emg4_factor; // Idem
Jellehierck 42:2937ad8f1032 391
Jellehierck 42:2937ad8f1032 392
Jellehierck 42:2937ad8f1032 393 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 42:2937ad8f1032 394 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 42:2937ad8f1032 395 emg1_out = 0.0;
Jellehierck 42:2937ad8f1032 396 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 42:2937ad8f1032 397 emg1_out = 1.0;
Jellehierck 42:2937ad8f1032 398 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 42:2937ad8f1032 399 // Inputs may be in range [emg_th, 1]
Jellehierck 42:2937ad8f1032 400 // Outputs are scaled to range [0, 1]
Jellehierck 42:2937ad8f1032 401 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 42:2937ad8f1032 402 }
Jellehierck 42:2937ad8f1032 403
Jellehierck 42:2937ad8f1032 404 // Idem for emg2
Jellehierck 42:2937ad8f1032 405 if ( emg2_norm < emg2_th ) {
Jellehierck 42:2937ad8f1032 406 emg2_out = 0.0;
Jellehierck 42:2937ad8f1032 407 } else if ( emg2_norm > 1.0f ) {
Jellehierck 42:2937ad8f1032 408 emg2_out = 1.0;
Jellehierck 42:2937ad8f1032 409 } else {
Jellehierck 42:2937ad8f1032 410 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 42:2937ad8f1032 411 }
Jellehierck 42:2937ad8f1032 412
Jellehierck 42:2937ad8f1032 413 // Idem for emg3
Jellehierck 42:2937ad8f1032 414 if ( emg3_norm < emg3_th ) {
Jellehierck 45:d09040915cfe 415 emg1_dir = 1.0;
Jellehierck 42:2937ad8f1032 416 } else {
Jellehierck 45:d09040915cfe 417 emg1_dir = -1.0;
Jellehierck 45:d09040915cfe 418 }
Jellehierck 51:7fe2659a1fcb 419
Jellehierck 45:d09040915cfe 420 if ( emg4_norm < emg4_th ) {
Jellehierck 45:d09040915cfe 421 emg2_dir = 1.0;
Jellehierck 45:d09040915cfe 422 } else {
Jellehierck 45:d09040915cfe 423 emg2_dir = -1.0;
Jellehierck 42:2937ad8f1032 424 }
Jellehierck 42:2937ad8f1032 425 }
Jellehierck 38:8b597ab8344f 426 /*
Jellehierck 38:8b597ab8344f 427 ------------------------------ EMG SUBSTATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 428 */
Jellehierck 38:8b597ab8344f 429
Jellehierck 38:8b597ab8344f 430 // EMG Waiting state
Jellehierck 38:8b597ab8344f 431 void do_emg_wait()
Jellehierck 38:8b597ab8344f 432 {
Jellehierck 38:8b597ab8344f 433 // Entry function
Jellehierck 38:8b597ab8344f 434 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 435 emg_state_changed = false; // Disable entry functions
Jellehierck 38:8b597ab8344f 436
Jellehierck 38:8b597ab8344f 437 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 38:8b597ab8344f 438 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 38:8b597ab8344f 439 }
Jellehierck 38:8b597ab8344f 440
Jellehierck 38:8b597ab8344f 441 // Do nothing until end condition is met
Jellehierck 38:8b597ab8344f 442
Jellehierck 38:8b597ab8344f 443 // State transition guard
Jellehierck 38:8b597ab8344f 444 if ( button1_pressed ) { // MVC calibration
Jellehierck 38:8b597ab8344f 445 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 446 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 447 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 448 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 38:8b597ab8344f 449 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 450
Jellehierck 38:8b597ab8344f 451 } else if ( button2_pressed ) { // Rest calibration
Jellehierck 38:8b597ab8344f 452 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 38:8b597ab8344f 453 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 454 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 38:8b597ab8344f 455 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 38:8b597ab8344f 456 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 457
Jellehierck 38:8b597ab8344f 458 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) { // Operation mode
Jellehierck 38:8b597ab8344f 459 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 460 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 38:8b597ab8344f 461 emg_curr_state = emg_operation; // Set next state
Jellehierck 38:8b597ab8344f 462 emg_state_changed = true; // Enable entry functions
Jellehierck 38:8b597ab8344f 463 }
Jellehierck 38:8b597ab8344f 464 }
Jellehierck 38:8b597ab8344f 465
Jellehierck 38:8b597ab8344f 466 // EMG Calibration state
Jellehierck 38:8b597ab8344f 467 void do_emg_cal()
Jellehierck 38:8b597ab8344f 468 {
Jellehierck 38:8b597ab8344f 469 // Entry functions
Jellehierck 38:8b597ab8344f 470 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 471 emg_state_changed = false; // Disable entry functions
Jellehierck 51:7fe2659a1fcb 472 set_led_color('b'); // Turn on calibration led (BLUE)
Jellehierck 38:8b597ab8344f 473
Jellehierck 57:d0d65376140f 474 timerStateChange.reset();
Jellehierck 57:d0d65376140f 475 timerStateChange.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 38:8b597ab8344f 476 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 477 emg_calibrateNow = true; // Enable calibration vector functionality in sampleSignals()
Jellehierck 38:8b597ab8344f 478
Jellehierck 38:8b597ab8344f 479 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 38:8b597ab8344f 480 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 481 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 45:d09040915cfe 482 emg4_cal.reserve(Fs * Tcal); // Idem
Jellehierck 38:8b597ab8344f 483 }
Jellehierck 38:8b597ab8344f 484
Jellehierck 38:8b597ab8344f 485 // Do stuff until end condition is met
Jellehierck 38:8b597ab8344f 486 // Set HIDScope outputs
Jellehierck 38:8b597ab8344f 487 scope.set(0, emg1 );
Jellehierck 45:d09040915cfe 488 scope.set(1, emg2 );
Jellehierck 45:d09040915cfe 489 scope.set(2, emg3 );
Jellehierck 45:d09040915cfe 490 scope.set(3, emg4 );
Jellehierck 38:8b597ab8344f 491 //scope.set(2, emg2_env );
Jellehierck 38:8b597ab8344f 492 //scope.set(3, emg3_env );
Jellehierck 38:8b597ab8344f 493 scope.send();
Jellehierck 38:8b597ab8344f 494
Jellehierck 38:8b597ab8344f 495 // State transition guard
Jellehierck 57:d0d65376140f 496 if ( timerStateChange.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 38:8b597ab8344f 497 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 38:8b597ab8344f 498 emg_calibrateNow = false; // Disable calibration sampling
BasB 55:a4e63ef1587c 499 set_led_color('p'); // Change calibration LED (BLUE) to EMG wait mode led (PURPLE)
Jellehierck 38:8b597ab8344f 500
Jellehierck 38:8b597ab8344f 501 // Extract EMG scale data from calibration
Jellehierck 38:8b597ab8344f 502 switch( emg_curr_state ) {
Jellehierck 39:f9042483b921 503 case emg_cal_MVC: // In case of MVC calibration
Jellehierck 38:8b597ab8344f 504 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 38:8b597ab8344f 505 emg2_MVC = getMax(emg2_cal);
Jellehierck 38:8b597ab8344f 506 emg3_MVC = getMax(emg3_cal);
Jellehierck 45:d09040915cfe 507 emg4_MVC = getMax(emg4_cal);
Jellehierck 38:8b597ab8344f 508 emg_MVC_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 509 break;
Jellehierck 39:f9042483b921 510 case emg_cal_rest: // In case of rest calibration
Jellehierck 38:8b597ab8344f 511 emg1_rest = getMean(emg1_cal); // Store mean of EMG in rest globally
Jellehierck 38:8b597ab8344f 512 emg2_rest = getMean(emg2_cal);
Jellehierck 38:8b597ab8344f 513 emg3_rest = getMean(emg3_cal);
Jellehierck 45:d09040915cfe 514 emg4_rest = getMean(emg4_cal);
Jellehierck 38:8b597ab8344f 515 emg_rest_cal_done = true; // Set up transition to EMG operation mode
Jellehierck 38:8b597ab8344f 516 break;
Jellehierck 38:8b597ab8344f 517 }
Jellehierck 38:8b597ab8344f 518 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 38:8b597ab8344f 519 vector<double>().swap(emg2_cal);
Jellehierck 38:8b597ab8344f 520 vector<double>().swap(emg3_cal);
Jellehierck 51:7fe2659a1fcb 521 vector<double>().swap(emg4_cal);
Jellehierck 38:8b597ab8344f 522
Jellehierck 38:8b597ab8344f 523 emg_curr_state = emg_wait; // Set next substate
Jellehierck 38:8b597ab8344f 524 emg_state_changed = true; // Enable substate entry function
Jellehierck 38:8b597ab8344f 525 }
Jellehierck 38:8b597ab8344f 526 }
Jellehierck 38:8b597ab8344f 527
Jellehierck 38:8b597ab8344f 528 // EMG Operation state
Jellehierck 38:8b597ab8344f 529 void do_emg_operation()
Jellehierck 38:8b597ab8344f 530 {
Jellehierck 38:8b597ab8344f 531 // Entry function
Jellehierck 38:8b597ab8344f 532 if ( emg_state_changed == true ) {
Jellehierck 38:8b597ab8344f 533 emg_state_changed = false; // Disable entry functions
Jellehierck 40:c6dffb676350 534
Jellehierck 39:f9042483b921 535 // Compute scale factors for all EMG signals
Jellehierck 38:8b597ab8344f 536 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 38:8b597ab8344f 537 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 538 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 539 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 540 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 541 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 38:8b597ab8344f 542 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 45:d09040915cfe 543 emg4_factor = 1 / emg4_MVC; // Factor to normalize MVC
Jellehierck 45:d09040915cfe 544 emg4_th = emg4_rest * emg4_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 38:8b597ab8344f 545 }
Jellehierck 40:c6dffb676350 546
Jellehierck 39:f9042483b921 547 // This state only runs its entry functions ONCE and then exits the EMG substate machine
Jellehierck 38:8b597ab8344f 548
Jellehierck 38:8b597ab8344f 549 // State transition guard
Jellehierck 41:8e8141f355af 550 if ( true ) { // EMG substate machine is terminated directly after running this state once
Jellehierck 38:8b597ab8344f 551 emg_curr_state = emg_wait; // Set next state
Jellehierck 38:8b597ab8344f 552 emg_state_changed = true; // Enable entry function
Jellehierck 41:8e8141f355af 553 emg_cal_done = true; // Let the global substate machine know that EMG calibration is finished
Jellehierck 42:2937ad8f1032 554
Jellehierck 41:8e8141f355af 555 // Enable buttons again
Jellehierck 41:8e8141f355af 556 button1.fall( &button1Press );
Jellehierck 41:8e8141f355af 557 button2.fall( &button2Press );
Jellehierck 38:8b597ab8344f 558 }
Jellehierck 38:8b597ab8344f 559 }
Jellehierck 38:8b597ab8344f 560
Jellehierck 54:a14acf0d1683 561 /*
Jellehierck 54:a14acf0d1683 562 ------------------------------ EMG SUBSTATE MACHINE ------------------------------
Jellehierck 54:a14acf0d1683 563 */
Jellehierck 42:2937ad8f1032 564
Jellehierck 54:a14acf0d1683 565 void emg_state_machine()
Jellehierck 54:a14acf0d1683 566 {
Jellehierck 54:a14acf0d1683 567 switch(emg_curr_state) {
Jellehierck 54:a14acf0d1683 568 case emg_wait:
Jellehierck 54:a14acf0d1683 569 do_emg_wait();
Jellehierck 54:a14acf0d1683 570 break;
Jellehierck 54:a14acf0d1683 571 case emg_cal_MVC:
Jellehierck 54:a14acf0d1683 572 do_emg_cal();
Jellehierck 54:a14acf0d1683 573 break;
Jellehierck 54:a14acf0d1683 574 case emg_cal_rest:
Jellehierck 54:a14acf0d1683 575 do_emg_cal();
Jellehierck 54:a14acf0d1683 576 break;
Jellehierck 54:a14acf0d1683 577 case emg_operation:
Jellehierck 54:a14acf0d1683 578 do_emg_operation();
Jellehierck 54:a14acf0d1683 579 break;
Jellehierck 54:a14acf0d1683 580 }
Jellehierck 54:a14acf0d1683 581 }
Jellehierck 42:2937ad8f1032 582
Jellehierck 42:2937ad8f1032 583 /*
Jellehierck 42:2937ad8f1032 584 ------------------------------ MOTOR GLOBAL VARIABLES & CONSTANTS ------------------------------
Jellehierck 42:2937ad8f1032 585 */
Jellehierck 42:2937ad8f1032 586 // Initialize encoder
Jellehierck 42:2937ad8f1032 587 int encoder_res = 64;
Jellehierck 42:2937ad8f1032 588
Jellehierck 42:2937ad8f1032 589 QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1
BasB 47:63b5ccd969e9 590 QEI encoder2(D12, D13, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2
Jellehierck 42:2937ad8f1032 591
Jellehierck 42:2937ad8f1032 592 // Initialize variables for encoder reading
Jellehierck 42:2937ad8f1032 593 volatile int counts1;
Jellehierck 42:2937ad8f1032 594 volatile int counts1af;
Jellehierck 42:2937ad8f1032 595 int counts1offset;
Jellehierck 42:2937ad8f1032 596 volatile int countsPrev1 = 0;
Jellehierck 42:2937ad8f1032 597 volatile int deltaCounts1;
Jellehierck 42:2937ad8f1032 598
Jellehierck 42:2937ad8f1032 599 volatile int counts2;
Jellehierck 42:2937ad8f1032 600 volatile int counts2af;
Jellehierck 42:2937ad8f1032 601 int counts2offset;
Jellehierck 42:2937ad8f1032 602 volatile int countsPrev2 = 0;
Jellehierck 42:2937ad8f1032 603 volatile int deltaCounts2;
Jellehierck 42:2937ad8f1032 604
Jellehierck 42:2937ad8f1032 605 // PWM period
Jellehierck 42:2937ad8f1032 606 const float PWM_period = 1/(18*10e3); // 18000 Hz
Jellehierck 42:2937ad8f1032 607
Jellehierck 42:2937ad8f1032 608 // Important constants
BasB 48:31676da4be7a 609 const float pi = 3.141592; // pi
BasB 48:31676da4be7a 610 const float pi2 = pi * 2.0f; // 2 pi
BasB 48:31676da4be7a 611 const float deg2rad = pi / 180.0f; //Conversion factor degree to rad
BasB 48:31676da4be7a 612 const float rad2deg = 180.0f / pi; //Conversion factor rad to degree
BasB 48:31676da4be7a 613 const float gearratio1 = 110.0f / 20.0f; // Teeth of large gear : teeth of driven gear
BasB 48:31676da4be7a 614 const float gearratio2 = 55.0f / 20.0f; // Teeth of small gear : teeth of driven gear
BasB 48:31676da4be7a 615 const float encoder_factorin = pi2 / encoder_res; // Convert encoder counts to angle in rad
Jellehierck 42:2937ad8f1032 616 const float gearbox_ratio = 131.25; // Gear ratio of motor gearboxes
Jellehierck 42:2937ad8f1032 617
Jellehierck 42:2937ad8f1032 618 // Kinematics variables
Jellehierck 42:2937ad8f1032 619 const float l1 = 26.0; // Distance base-joint2 [cm]
Jellehierck 42:2937ad8f1032 620 const float l2 = 62.0; // Distance join2-endpoint [cm]
Jellehierck 42:2937ad8f1032 621
BasB 48:31676da4be7a 622 float q1 = -10.0f * deg2rad; // Angle of first joint [rad] (starts off in reference position)
Jellehierck 42:2937ad8f1032 623 float q1dot; // Velocity of first joint [rad/s]
Jellehierck 42:2937ad8f1032 624
BasB 48:31676da4be7a 625 float q2 = -140.0f * deg2rad;
Jellehierck 42:2937ad8f1032 626 float q2dot;
Jellehierck 42:2937ad8f1032 627
Jellehierck 42:2937ad8f1032 628 float Vx = 0.0; // Desired linear velocity x direction
Jellehierck 42:2937ad8f1032 629 float Vy = 0.0; // Desired linear velocity y direction
Jellehierck 42:2937ad8f1032 630
Jellehierck 42:2937ad8f1032 631 float xe; // Endpoint x position [cm]
Jellehierck 42:2937ad8f1032 632 float ye; // Endpoint y position [cm]
Jellehierck 42:2937ad8f1032 633
Jellehierck 42:2937ad8f1032 634 // Motor angles in starting position
BasB 47:63b5ccd969e9 635 const float motor1_init = ( q1 + q2 ) * gearratio1; // Measured angle motor 1 in initial (starting) position
Jellehierck 42:2937ad8f1032 636 float motor1_ref = motor1_init; // Expected motor angle
Jellehierck 42:2937ad8f1032 637 float motor1_angle = motor1_init; // Actual motor angle
Jellehierck 42:2937ad8f1032 638
BasB 47:63b5ccd969e9 639 const float motor2_init = q1 * gearratio2; // Measured angle motor 2 in initial (starting) position
Jellehierck 42:2937ad8f1032 640 float motor2_ref = motor2_init;
Jellehierck 42:2937ad8f1032 641 float motor2_angle = motor2_init;
Jellehierck 42:2937ad8f1032 642
Jellehierck 42:2937ad8f1032 643 // Initialize variables for motor control
Jellehierck 42:2937ad8f1032 644 float motor1offset; // Offset during calibration
Jellehierck 42:2937ad8f1032 645 float omega1; //velocity (rad/s)
Jellehierck 42:2937ad8f1032 646 bool motordir1; // Toggle of motor direction
Jellehierck 42:2937ad8f1032 647 double controlsignal1; // ??
Jellehierck 42:2937ad8f1032 648 float motor1_error; // Error between encoder and reference
Jellehierck 42:2937ad8f1032 649
Jellehierck 42:2937ad8f1032 650 float motor2offset;
Jellehierck 42:2937ad8f1032 651 float omega2;
Jellehierck 42:2937ad8f1032 652 bool motordir2;
Jellehierck 42:2937ad8f1032 653 double controlsignal2;
BasB 47:63b5ccd969e9 654 float motor2_error;
Jellehierck 42:2937ad8f1032 655
Jellehierck 42:2937ad8f1032 656 // Initialize variables for PID controller
Jellehierck 42:2937ad8f1032 657 float Kp = 0.27; // Proportional gain
Jellehierck 42:2937ad8f1032 658 float Ki = 0.35; // Integral gain
Jellehierck 42:2937ad8f1032 659 float Kd = 0.1; // Derivative gain
Jellehierck 42:2937ad8f1032 660 float Ka = 1.0;
Jellehierck 42:2937ad8f1032 661
Jellehierck 42:2937ad8f1032 662 float u_p1; //
Jellehierck 42:2937ad8f1032 663 float u_i1; //
Jellehierck 42:2937ad8f1032 664 float ux1; //
Jellehierck 42:2937ad8f1032 665 float up1; // Proportional contribution
Jellehierck 42:2937ad8f1032 666 float ek1; //
Jellehierck 42:2937ad8f1032 667 float ei1 = 0.0; // Integral error (starts at 0)
Jellehierck 42:2937ad8f1032 668
Jellehierck 42:2937ad8f1032 669 float u_p2;
Jellehierck 42:2937ad8f1032 670 float u_i2;
Jellehierck 42:2937ad8f1032 671 float ux2;
Jellehierck 42:2937ad8f1032 672 float up2;
Jellehierck 42:2937ad8f1032 673 float ek2;
Jellehierck 42:2937ad8f1032 674 float ei2 = 0.0;
Jellehierck 42:2937ad8f1032 675
Jellehierck 42:2937ad8f1032 676 /*
Jellehierck 42:2937ad8f1032 677 ------------------------------ MOTOR FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 678 */
Jellehierck 42:2937ad8f1032 679 void PID_controller()
Jellehierck 42:2937ad8f1032 680 {
Jellehierck 42:2937ad8f1032 681 // Motor 1
BasB 48:31676da4be7a 682 static float error_integral1 = 0.0;
Jellehierck 42:2937ad8f1032 683 static float e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 684
Jellehierck 42:2937ad8f1032 685 //Proportional part
Jellehierck 42:2937ad8f1032 686 u_p1 = Kp * motor1_error;
Jellehierck 42:2937ad8f1032 687
Jellehierck 42:2937ad8f1032 688 //Integral part
Jellehierck 42:2937ad8f1032 689 error_integral1 = error_integral1 + ei1 * Ts;
Jellehierck 42:2937ad8f1032 690 u_i1 = Ki * error_integral1;
Jellehierck 42:2937ad8f1032 691
Jellehierck 42:2937ad8f1032 692 //Derivative part
Jellehierck 42:2937ad8f1032 693 float error_derivative1 = (motor1_error - e_prev1) / Ts;
Jellehierck 42:2937ad8f1032 694 float u_d1 = Kd * error_derivative1;
Jellehierck 42:2937ad8f1032 695 e_prev1 = motor1_error;
Jellehierck 42:2937ad8f1032 696
Jellehierck 42:2937ad8f1032 697 // Sum and limit
Jellehierck 42:2937ad8f1032 698 up1 = u_p1 + u_i1 + u_d1;
BasB 48:31676da4be7a 699 if ( up1 > 1.0f ) {
BasB 48:31676da4be7a 700 controlsignal1 = 1.0f;
BasB 48:31676da4be7a 701 } else if ( up1 < -1.0f ) {
BasB 48:31676da4be7a 702 controlsignal1 = -1.0f;
Jellehierck 42:2937ad8f1032 703 } else {
Jellehierck 42:2937ad8f1032 704 controlsignal1 = up1;
Jellehierck 42:2937ad8f1032 705 }
Jellehierck 42:2937ad8f1032 706
Jellehierck 42:2937ad8f1032 707 // To prevent windup
Jellehierck 42:2937ad8f1032 708 ux1 = up1 - controlsignal1;
Jellehierck 42:2937ad8f1032 709 ek1 = Ka * ux1;
Jellehierck 42:2937ad8f1032 710 ei1 = motor1_error - ek1;
Jellehierck 42:2937ad8f1032 711
Jellehierck 42:2937ad8f1032 712 // Motor 2
BasB 48:31676da4be7a 713 static float error_integral2 = 0.0;
BasB 47:63b5ccd969e9 714 static float e_prev2 = motor2_error;
Jellehierck 42:2937ad8f1032 715
Jellehierck 42:2937ad8f1032 716 //Proportional part:
BasB 47:63b5ccd969e9 717 u_p2 = Kp * motor2_error;
Jellehierck 42:2937ad8f1032 718
Jellehierck 42:2937ad8f1032 719 //Integral part
Jellehierck 42:2937ad8f1032 720 error_integral2 = error_integral2 + ei2 * Ts;
Jellehierck 42:2937ad8f1032 721 u_i2 = Ki * error_integral2;
Jellehierck 42:2937ad8f1032 722
Jellehierck 42:2937ad8f1032 723 //Derivative part
BasB 47:63b5ccd969e9 724 float error_derivative2 = (motor2_error - e_prev2) / Ts;
Jellehierck 42:2937ad8f1032 725 float u_d2 = Kd * error_derivative2;
BasB 47:63b5ccd969e9 726 e_prev2 = motor2_error;
Jellehierck 42:2937ad8f1032 727
Jellehierck 42:2937ad8f1032 728 // Sum and limit
Jellehierck 42:2937ad8f1032 729 up2 = u_p2 + u_i2 + u_d2;
Jellehierck 42:2937ad8f1032 730 if ( up2 > 1.0f ) {
Jellehierck 42:2937ad8f1032 731 controlsignal2 = 1.0f;
BasB 48:31676da4be7a 732 } else if ( up2 < -1.0f ) {
Jellehierck 42:2937ad8f1032 733 controlsignal2 = -1.0f;
Jellehierck 42:2937ad8f1032 734 } else {
Jellehierck 42:2937ad8f1032 735 controlsignal2 = up2;
Jellehierck 42:2937ad8f1032 736 }
Jellehierck 42:2937ad8f1032 737
Jellehierck 42:2937ad8f1032 738 // To prevent windup
Jellehierck 42:2937ad8f1032 739 ux2 = up2 - controlsignal2;
Jellehierck 42:2937ad8f1032 740 ek2 = Ka * ux2;
BasB 47:63b5ccd969e9 741 ei2 = motor2_error - ek2;
Jellehierck 42:2937ad8f1032 742 }
Jellehierck 42:2937ad8f1032 743
Jellehierck 42:2937ad8f1032 744 void RKI()
Jellehierck 42:2937ad8f1032 745 {
Jellehierck 42:2937ad8f1032 746 // Derived function for angular velocity of joint angles
Jellehierck 42:2937ad8f1032 747 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 748 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 749 q1 = q1 + q1dot * Ts;
Jellehierck 42:2937ad8f1032 750 q2 = q2 + q2dot * Ts;
Jellehierck 42:2937ad8f1032 751
Jellehierck 42:2937ad8f1032 752 xe = l1 * cos(q1) + l2 * cos(q1+q2);
Jellehierck 42:2937ad8f1032 753 ye = l1 * sin(q1) + l2 * sin(q1+q2);
Jellehierck 42:2937ad8f1032 754
BasB 47:63b5ccd969e9 755 if ( q1 < -5.0f * deg2rad) {
BasB 48:31676da4be7a 756 q1 = -5.0f * deg2rad;
Jellehierck 53:35282a3e0cad 757 } else if ( q1 > 65.0f * deg2rad ) {
Jellehierck 42:2937ad8f1032 758 q1 = 65.0f * deg2rad;
Jellehierck 42:2937ad8f1032 759 } else {
Jellehierck 42:2937ad8f1032 760 q1 = q1;
Jellehierck 42:2937ad8f1032 761 }
Jellehierck 42:2937ad8f1032 762
Jellehierck 53:35282a3e0cad 763 if ( q2 > -50.0f * deg2rad ) {
BasB 48:31676da4be7a 764 q2 = -50.0f * deg2rad;
Jellehierck 53:35282a3e0cad 765 } else if ( q2 < -138.0f * deg2rad ) {
BasB 48:31676da4be7a 766 q2 = -138.0f * deg2rad;
Jellehierck 42:2937ad8f1032 767 } else {
Jellehierck 42:2937ad8f1032 768 q2 = q2;
Jellehierck 42:2937ad8f1032 769 }
Jellehierck 42:2937ad8f1032 770
Jellehierck 42:2937ad8f1032 771 motor1_ref = 5.5f * q1 + 5.5f * q2;
Jellehierck 42:2937ad8f1032 772 motor2_ref = 2.75f * q1;
Jellehierck 42:2937ad8f1032 773 }
Jellehierck 42:2937ad8f1032 774
Jellehierck 42:2937ad8f1032 775 void motorControl()
Jellehierck 42:2937ad8f1032 776 {
Jellehierck 42:2937ad8f1032 777 counts1 = counts1af - counts1offset;
BasB 47:63b5ccd969e9 778 motor1_angle = (counts1 * encoder_factorin / gearbox_ratio) + motor1_init; // Angle of motor shaft in rad + correctie voor q1 en q2
Jellehierck 42:2937ad8f1032 779 omega1 = deltaCounts1 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
Jellehierck 42:2937ad8f1032 780 motor1_error = motor1_ref - motor1_angle;
BasB 48:31676da4be7a 781 if ( controlsignal1 < 0.0f ) {
Jellehierck 42:2937ad8f1032 782 motordir1 = 0;
Jellehierck 42:2937ad8f1032 783 } else {
Jellehierck 42:2937ad8f1032 784 motordir1 = 1;
Jellehierck 42:2937ad8f1032 785 }
Jellehierck 42:2937ad8f1032 786
Jellehierck 42:2937ad8f1032 787 motor1Power.write(abs(controlsignal1));
Jellehierck 42:2937ad8f1032 788 motor1Direction = motordir1;
Jellehierck 42:2937ad8f1032 789
Jellehierck 42:2937ad8f1032 790 counts2 = counts2af - counts2offset;
BasB 47:63b5ccd969e9 791 motor2_angle = (counts2 * encoder_factorin / gearbox_ratio) + motor2_init; // Angle of motor shaft in rad + correctie voor q1
Jellehierck 42:2937ad8f1032 792 omega2 = deltaCounts2 / Ts * encoder_factorin / gearbox_ratio; // Angular velocity of motor shaft in rad/s
BasB 47:63b5ccd969e9 793 motor2_error = motor2_ref-motor2_angle;
BasB 48:31676da4be7a 794 if ( controlsignal2 < 0.0f ) {
Jellehierck 42:2937ad8f1032 795 motordir2 = 0;
Jellehierck 42:2937ad8f1032 796 } else {
Jellehierck 42:2937ad8f1032 797 motordir2 = 1;
Jellehierck 42:2937ad8f1032 798 }
Jellehierck 42:2937ad8f1032 799 if (motor_encoder_cal_done == true) {
Jellehierck 42:2937ad8f1032 800 motor2Power.write(abs(controlsignal2));
Jellehierck 42:2937ad8f1032 801 }
Jellehierck 42:2937ad8f1032 802 motor2Direction = motordir2;
Jellehierck 42:2937ad8f1032 803 }
Jellehierck 42:2937ad8f1032 804
Jellehierck 42:2937ad8f1032 805 void motorKillPower()
Jellehierck 42:2937ad8f1032 806 {
Jellehierck 42:2937ad8f1032 807 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 808 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 809 Vx=0.0f;
Jellehierck 42:2937ad8f1032 810 Vy=0.0f;
Jellehierck 42:2937ad8f1032 811 }
Jellehierck 42:2937ad8f1032 812
Jellehierck 42:2937ad8f1032 813 /*
Jellehierck 42:2937ad8f1032 814 ------------------------------ MOTOR SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 815 */
Jellehierck 42:2937ad8f1032 816 void do_motor_encoder_set()
Jellehierck 42:2937ad8f1032 817 {
Jellehierck 42:2937ad8f1032 818 // Entry function
Jellehierck 42:2937ad8f1032 819 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 820 motor_state_changed = false;
Jellehierck 42:2937ad8f1032 821 // More functions
Jellehierck 42:2937ad8f1032 822 }
Jellehierck 42:2937ad8f1032 823 motor1Power.write(0.0f);
Jellehierck 42:2937ad8f1032 824 motor2Power.write(0.0f);
Jellehierck 42:2937ad8f1032 825 counts1offset = counts1af ;
Jellehierck 42:2937ad8f1032 826 counts2offset = counts2af;
Jellehierck 42:2937ad8f1032 827
Jellehierck 42:2937ad8f1032 828 // State transition guard
Jellehierck 42:2937ad8f1032 829 if ( button2_pressed ) {
Jellehierck 42:2937ad8f1032 830 button2_pressed = false;
Jellehierck 42:2937ad8f1032 831 motor_encoder_cal_done = true;
Jellehierck 42:2937ad8f1032 832 motor_curr_state = motor_finish;
Jellehierck 42:2937ad8f1032 833 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 834 }
Jellehierck 42:2937ad8f1032 835 }
Jellehierck 42:2937ad8f1032 836
Jellehierck 42:2937ad8f1032 837 void do_motor_finish()
Jellehierck 42:2937ad8f1032 838 {
Jellehierck 42:2937ad8f1032 839 // Entry function
Jellehierck 42:2937ad8f1032 840 if ( motor_state_changed == true ) {
Jellehierck 42:2937ad8f1032 841 motor_state_changed = false;
Jellehierck 57:d0d65376140f 842 timerStateChange.reset();
Jellehierck 57:d0d65376140f 843 timerStateChange.start();
Jellehierck 42:2937ad8f1032 844 }
Jellehierck 42:2937ad8f1032 845
Jellehierck 42:2937ad8f1032 846 // Do stuff until end condition is true
Jellehierck 42:2937ad8f1032 847 PID_controller();
Jellehierck 42:2937ad8f1032 848 motorControl();
Jellehierck 42:2937ad8f1032 849 RKI();
Jellehierck 42:2937ad8f1032 850
Jellehierck 42:2937ad8f1032 851 // State transition guard
Jellehierck 57:d0d65376140f 852 if ( timerStateChange.read() >= 3.0f ) { // After 3 seconds move to next state
Jellehierck 42:2937ad8f1032 853 button2_pressed = false;
Jellehierck 42:2937ad8f1032 854 motor_cal_done = true;
Jellehierck 51:7fe2659a1fcb 855 motor_curr_state = motor_encoder_set;
Jellehierck 42:2937ad8f1032 856 motor_state_changed = true;
Jellehierck 42:2937ad8f1032 857 }
Jellehierck 42:2937ad8f1032 858 }
Jellehierck 42:2937ad8f1032 859
Jellehierck 42:2937ad8f1032 860 /*
Jellehierck 54:a14acf0d1683 861 ------------------------------ MOTOR SUBSTATE MACHINE ------------------------------
Jellehierck 42:2937ad8f1032 862 */
Jellehierck 54:a14acf0d1683 863 void motor_state_machine()
Jellehierck 42:2937ad8f1032 864 {
Jellehierck 54:a14acf0d1683 865 switch(motor_curr_state) {
Jellehierck 54:a14acf0d1683 866 case motor_encoder_set:
Jellehierck 54:a14acf0d1683 867 do_motor_encoder_set();
Jellehierck 54:a14acf0d1683 868 break;
Jellehierck 54:a14acf0d1683 869 case motor_finish:
Jellehierck 54:a14acf0d1683 870 do_motor_finish();
Jellehierck 54:a14acf0d1683 871 break;
Jellehierck 42:2937ad8f1032 872 }
Jellehierck 42:2937ad8f1032 873 }
Jellehierck 42:2937ad8f1032 874
Jellehierck 42:2937ad8f1032 875 /*
Jellehierck 42:2937ad8f1032 876 ------------------------------ OPERATION SUBSTATE FUNCTIONS ------------------------------
Jellehierck 42:2937ad8f1032 877 */
Jellehierck 42:2937ad8f1032 878 void do_operation_wait()
Jellehierck 42:2937ad8f1032 879 {
Jellehierck 42:2937ad8f1032 880 // Entry function
Jellehierck 42:2937ad8f1032 881 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 882 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 883 emg_sampleNow = false; // Disable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 884 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 885 }
Jellehierck 42:2937ad8f1032 886
Jellehierck 42:2937ad8f1032 887 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 888 EMGOperationFunc();
Jellehierck 44:342af9b3c1a0 889
Jellehierck 53:35282a3e0cad 890 Vx = emg1_out * (10.0 + 10.0 * potmeter1.read() ) * emg1_dir;
Jellehierck 53:35282a3e0cad 891 Vy = emg2_out * (10.0 + 10.0 * potmeter2.read() ) * emg2_dir;
Jellehierck 44:342af9b3c1a0 892
Jellehierck 43:1bd5417ded64 893 PID_controller();
Jellehierck 43:1bd5417ded64 894 motorControl();
Jellehierck 43:1bd5417ded64 895 RKI();
Jellehierck 44:342af9b3c1a0 896
Jellehierck 42:2937ad8f1032 897 motorKillPower(); // Disables motor outputs
Jellehierck 44:342af9b3c1a0 898
Jellehierck 42:2937ad8f1032 899 // State transition guard
Jellehierck 45:d09040915cfe 900 if ( button1_pressed == true ) {
Jellehierck 45:d09040915cfe 901 button1_pressed = false;
Jellehierck 42:2937ad8f1032 902 operation_curr_state = operation_movement;
Jellehierck 42:2937ad8f1032 903 operation_state_changed = true;
Jellehierck 45:d09040915cfe 904 } else if ( button2_pressed == true ) {
Jellehierck 45:d09040915cfe 905 button2_pressed = false;
Jellehierck 45:d09040915cfe 906 //operation_curr_state = operation_finish; // To move to finished operation mode (not used yet)
Jellehierck 45:d09040915cfe 907 operation_curr_state = operation_wait; // TEMPORARY
Jellehierck 45:d09040915cfe 908 operation_state_changed = true;
Jellehierck 45:d09040915cfe 909 global_curr_state = global_wait; // TEMPORARY move directly to global wait state
Jellehierck 45:d09040915cfe 910 global_state_changed = true; // TEMPORARY move directly to global wait state
Jellehierck 42:2937ad8f1032 911 }
Jellehierck 42:2937ad8f1032 912 }
Jellehierck 42:2937ad8f1032 913
Jellehierck 42:2937ad8f1032 914 void do_operation_movement()
Jellehierck 42:2937ad8f1032 915 {
Jellehierck 42:2937ad8f1032 916 // Entry function
Jellehierck 42:2937ad8f1032 917 if ( operation_state_changed == true ) {
Jellehierck 42:2937ad8f1032 918 operation_state_changed = false;
Jellehierck 42:2937ad8f1032 919 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 42:2937ad8f1032 920 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 42:2937ad8f1032 921 }
Jellehierck 42:2937ad8f1032 922
Jellehierck 42:2937ad8f1032 923 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 924 EMGOperationFunc();
Jellehierck 44:342af9b3c1a0 925
Jellehierck 53:35282a3e0cad 926 Vx = emg1_out * (10.0 + 10.0 * potmeter1.read() ) * emg1_dir;
Jellehierck 53:35282a3e0cad 927 Vy = emg2_out * (10.0 + 10.0 * potmeter2.read() ) * emg2_dir;
Jellehierck 44:342af9b3c1a0 928
Jellehierck 43:1bd5417ded64 929 PID_controller();
Jellehierck 43:1bd5417ded64 930 motorControl();
Jellehierck 43:1bd5417ded64 931 RKI();
Jellehierck 44:342af9b3c1a0 932
Jellehierck 42:2937ad8f1032 933 // State transition guard
Jellehierck 45:d09040915cfe 934 if ( button1_pressed == true ) {
Jellehierck 45:d09040915cfe 935 button1_pressed = false;
Jellehierck 42:2937ad8f1032 936 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 937 operation_state_changed = true;
Jellehierck 45:d09040915cfe 938 } else if ( button2_pressed == true ) {
Jellehierck 45:d09040915cfe 939 button2_pressed = false;
Jellehierck 42:2937ad8f1032 940 operation_curr_state = operation_wait;
Jellehierck 42:2937ad8f1032 941 operation_state_changed = true;
Jellehierck 51:7fe2659a1fcb 942 exit_operation = true;
Jellehierck 42:2937ad8f1032 943 }
Jellehierck 42:2937ad8f1032 944 }
Jellehierck 42:2937ad8f1032 945
Jellehierck 38:8b597ab8344f 946 /*
Jellehierck 42:2937ad8f1032 947 ------------------------------ OPERATION SUBSTATE MACHINE ------------------------------
Jellehierck 42:2937ad8f1032 948 */
Jellehierck 42:2937ad8f1032 949
Jellehierck 42:2937ad8f1032 950 void operation_state_machine()
Jellehierck 42:2937ad8f1032 951 {
Jellehierck 42:2937ad8f1032 952 switch(operation_curr_state) {
Jellehierck 42:2937ad8f1032 953 case operation_wait:
Jellehierck 42:2937ad8f1032 954 do_operation_wait();
Jellehierck 42:2937ad8f1032 955 break;
Jellehierck 42:2937ad8f1032 956 case operation_movement:
Jellehierck 42:2937ad8f1032 957 do_operation_movement();
Jellehierck 42:2937ad8f1032 958 break;
Jellehierck 42:2937ad8f1032 959 }
Jellehierck 42:2937ad8f1032 960 }
Jellehierck 42:2937ad8f1032 961
Jellehierck 42:2937ad8f1032 962 /*
Jellehierck 43:1bd5417ded64 963 ------------------------------ DEMO SUBSTATE FUNCTIONS ------------------------------
Jellehierck 43:1bd5417ded64 964 */
Jellehierck 44:342af9b3c1a0 965 void do_demo_wait()
Jellehierck 44:342af9b3c1a0 966 {
Jellehierck 43:1bd5417ded64 967 // Entry function
Jellehierck 43:1bd5417ded64 968 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 969 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 970 }
Jellehierck 43:1bd5417ded64 971
Jellehierck 43:1bd5417ded64 972 // Do nothing until end condition is met
Jellehierck 44:342af9b3c1a0 973
Jellehierck 43:1bd5417ded64 974 // State transition guard
Jellehierck 44:342af9b3c1a0 975 if ( button1_pressed == true ) { // demo_XY
Jellehierck 43:1bd5417ded64 976 button1_pressed = false;
Jellehierck 43:1bd5417ded64 977 demo_curr_state = demo_XY;
Jellehierck 43:1bd5417ded64 978 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 979 // More functions
Jellehierck 57:d0d65376140f 980 } else if ( switch2_pressed == true ) { // Return to global wait
Jellehierck 57:d0d65376140f 981 switch2_pressed = false;
Jellehierck 43:1bd5417ded64 982 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 983 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 984 motor_cal_done = false; // Disables motor calibration again (robot is probably not in reference position)
Jellehierck 57:d0d65376140f 985 exit_demo = true;
Jellehierck 43:1bd5417ded64 986 }
Jellehierck 43:1bd5417ded64 987 }
Jellehierck 43:1bd5417ded64 988
Jellehierck 44:342af9b3c1a0 989 void do_demo_motor_cal()
Jellehierck 44:342af9b3c1a0 990 {
Jellehierck 43:1bd5417ded64 991 // Entry function
Jellehierck 43:1bd5417ded64 992 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 993 demo_state_changed = false;
Jellehierck 57:d0d65376140f 994 set_led_color('c'); // Set LED to motor calibration (CYAN)
Jellehierck 43:1bd5417ded64 995 }
Jellehierck 43:1bd5417ded64 996
Jellehierck 43:1bd5417ded64 997 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 998 motor_state_machine();
Jellehierck 43:1bd5417ded64 999
Jellehierck 43:1bd5417ded64 1000 // State transition guard
Jellehierck 44:342af9b3c1a0 1001 if ( motor_cal_done == true ) { // demo_wait
Jellehierck 43:1bd5417ded64 1002 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1003 demo_state_changed = true;
Jellehierck 57:d0d65376140f 1004 set_led_color('y'); // Set LED to demo mode (YELLOW)
Jellehierck 43:1bd5417ded64 1005 }
Jellehierck 43:1bd5417ded64 1006 }
Jellehierck 43:1bd5417ded64 1007
Jellehierck 44:342af9b3c1a0 1008 void do_demo_XY()
Jellehierck 44:342af9b3c1a0 1009 {
Jellehierck 43:1bd5417ded64 1010 // Entry function
Jellehierck 43:1bd5417ded64 1011 if ( demo_state_changed == true ) {
Jellehierck 43:1bd5417ded64 1012 demo_state_changed = false;
Jellehierck 43:1bd5417ded64 1013 }
Jellehierck 43:1bd5417ded64 1014
Jellehierck 43:1bd5417ded64 1015 // Do stuff until end condition is met
BasB 48:31676da4be7a 1016 static float t = 0.0;
BasB 56:3f29502fcb55 1017 Vy = 15.0f * sin(1.5f*t);
BasB 56:3f29502fcb55 1018 Vx = 0.0f * sin(1.5f*t);
Jellehierck 43:1bd5417ded64 1019 t += Ts;
Jellehierck 44:342af9b3c1a0 1020
Jellehierck 43:1bd5417ded64 1021 PID_controller();
Jellehierck 43:1bd5417ded64 1022 motorControl();
Jellehierck 43:1bd5417ded64 1023 RKI();
BasB 56:3f29502fcb55 1024
BasB 56:3f29502fcb55 1025 scope.set(0, motor2_ref * rad2deg );
BasB 56:3f29502fcb55 1026 scope.set(1, motor2_angle * rad2deg );
BasB 56:3f29502fcb55 1027 //scope.set(2, motor2_ref );
BasB 56:3f29502fcb55 1028 //scope.set(3, motor2_angle );
BasB 56:3f29502fcb55 1029 scope.send();
Jellehierck 43:1bd5417ded64 1030
Jellehierck 43:1bd5417ded64 1031 // State transition guard
Jellehierck 44:342af9b3c1a0 1032 if ( button1_pressed == true ) { // demo_wait
Jellehierck 44:342af9b3c1a0 1033 button1_pressed = false;
Jellehierck 43:1bd5417ded64 1034 demo_curr_state = demo_wait;
Jellehierck 43:1bd5417ded64 1035 demo_state_changed = true;
Jellehierck 43:1bd5417ded64 1036 }
Jellehierck 43:1bd5417ded64 1037 }
Jellehierck 43:1bd5417ded64 1038
Jellehierck 43:1bd5417ded64 1039 /*
Jellehierck 43:1bd5417ded64 1040 ------------------------------ DEMO SUBSTATE MACHINE ------------------------------
Jellehierck 43:1bd5417ded64 1041 */
Jellehierck 43:1bd5417ded64 1042
Jellehierck 43:1bd5417ded64 1043 void demo_state_machine()
Jellehierck 43:1bd5417ded64 1044 {
Jellehierck 43:1bd5417ded64 1045 switch(demo_curr_state) {
Jellehierck 43:1bd5417ded64 1046 case demo_wait:
Jellehierck 43:1bd5417ded64 1047 do_demo_wait();
Jellehierck 43:1bd5417ded64 1048 break;
Jellehierck 43:1bd5417ded64 1049 case demo_motor_cal:
Jellehierck 43:1bd5417ded64 1050 do_demo_motor_cal();
Jellehierck 43:1bd5417ded64 1051 break;
Jellehierck 43:1bd5417ded64 1052 case demo_XY:
Jellehierck 43:1bd5417ded64 1053 do_demo_XY();
Jellehierck 43:1bd5417ded64 1054 break;
Jellehierck 43:1bd5417ded64 1055 }
Jellehierck 43:1bd5417ded64 1056 }
Jellehierck 43:1bd5417ded64 1057
Jellehierck 43:1bd5417ded64 1058 /*
Jellehierck 37:806c7c8381a7 1059 ------------------------------ GLOBAL STATE FUNCTIONS ------------------------------
Jellehierck 15:421d3d9c563b 1060 */
Jellehierck 25:a1be4cf2ab0b 1061 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 1062 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 1063 // Entry function
Jellehierck 37:806c7c8381a7 1064 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1065 global_state_changed = false;
Jellehierck 25:a1be4cf2ab0b 1066 // More functions
Jellehierck 25:a1be4cf2ab0b 1067 }
Jellehierck 25:a1be4cf2ab0b 1068
Jellehierck 25:a1be4cf2ab0b 1069 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 1070 doStuff();
Jellehierck 25:a1be4cf2ab0b 1071
Jellehierck 25:a1be4cf2ab0b 1072 // State transition guard
Jellehierck 25:a1be4cf2ab0b 1073 if ( endCondition == true ) {
Jellehierck 37:806c7c8381a7 1074 global_curr_state = next_state;
Jellehierck 37:806c7c8381a7 1075 global_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 1076 // More functions
Jellehierck 25:a1be4cf2ab0b 1077 }
Jellehierck 25:a1be4cf2ab0b 1078 }
Jellehierck 25:a1be4cf2ab0b 1079 */
Jellehierck 25:a1be4cf2ab0b 1080
Jellehierck 37:806c7c8381a7 1081 // FAILURE MODE
Jellehierck 37:806c7c8381a7 1082 void do_global_failure()
Jellehierck 7:7a088536f1c9 1083 {
Jellehierck 37:806c7c8381a7 1084 // Entry function
Jellehierck 37:806c7c8381a7 1085 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1086 global_state_changed = false;
Jellehierck 52:fd35025574ca 1087 set_led_color('r'); // Set failure mode LED (RED)
Jellehierck 25:a1be4cf2ab0b 1088
Jellehierck 37:806c7c8381a7 1089 failure_mode = true; // Set failure mode
Jellehierck 22:9079c6c0d898 1090 }
Jellehierck 37:806c7c8381a7 1091
Jellehierck 37:806c7c8381a7 1092 // Do stuff until end condition is met
Jellehierck 42:2937ad8f1032 1093 motorKillPower();
Jellehierck 37:806c7c8381a7 1094
Jellehierck 37:806c7c8381a7 1095 // State transition guard
Jellehierck 37:806c7c8381a7 1096 if ( false ) { // Never move to other state
Jellehierck 37:806c7c8381a7 1097 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1098 global_state_changed = true;
Jellehierck 52:fd35025574ca 1099 set_led_color('o'); // Disable failure mode LED
Jellehierck 37:806c7c8381a7 1100 }
Jellehierck 25:a1be4cf2ab0b 1101 }
Jellehierck 25:a1be4cf2ab0b 1102
Jellehierck 37:806c7c8381a7 1103 // DEMO MODE
Jellehierck 37:806c7c8381a7 1104 void do_global_demo()
Jellehierck 25:a1be4cf2ab0b 1105 {
Jellehierck 25:a1be4cf2ab0b 1106 // Entry function
Jellehierck 37:806c7c8381a7 1107 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1108 global_state_changed = false;
Jellehierck 52:fd35025574ca 1109 set_led_color('y'); // Set demo mode LED (YELLOW)
Jellehierck 57:d0d65376140f 1110 emg_cal_done = false; // Disables EMG calibration to prevent going into operation mode after exiting demo state
Jellehierck 51:7fe2659a1fcb 1111
Jellehierck 49:80970a03083b 1112 if ( motor_cal_done == true ) {
Jellehierck 49:80970a03083b 1113 demo_curr_state = demo_wait;
Jellehierck 49:80970a03083b 1114 } else if (motor_cal_done == false ) {
Jellehierck 49:80970a03083b 1115 demo_curr_state = demo_motor_cal;
Jellehierck 49:80970a03083b 1116 }
Jellehierck 49:80970a03083b 1117 demo_state_changed = true;
Jellehierck 37:806c7c8381a7 1118 }
Jellehierck 37:806c7c8381a7 1119
Jellehierck 37:806c7c8381a7 1120 // Do stuff until end condition is met
Jellehierck 46:8a8fa8e602a1 1121 demo_state_machine();
Jellehierck 51:7fe2659a1fcb 1122
Jellehierck 37:806c7c8381a7 1123 // State transition guard
Jellehierck 57:d0d65376140f 1124 if ( exit_demo == true ) {
Jellehierck 57:d0d65376140f 1125 exit_demo = false;
Jellehierck 37:806c7c8381a7 1126 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1127 global_state_changed = true;
Jellehierck 52:fd35025574ca 1128 set_led_color('o'); // Disable demo mode LED
Jellehierck 37:806c7c8381a7 1129 }
Jellehierck 37:806c7c8381a7 1130 }
Jellehierck 37:806c7c8381a7 1131
Jellehierck 37:806c7c8381a7 1132 // WAIT MODE
Jellehierck 37:806c7c8381a7 1133 void do_global_wait()
Jellehierck 37:806c7c8381a7 1134 {
Jellehierck 37:806c7c8381a7 1135 // Entry function
Jellehierck 37:806c7c8381a7 1136 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1137 global_state_changed = false;
Jellehierck 52:fd35025574ca 1138 set_led_color('w'); // Set wait mode LED (WHITE)
Jellehierck 25:a1be4cf2ab0b 1139 }
Jellehierck 25:a1be4cf2ab0b 1140
Jellehierck 27:f18da01093c9 1141 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 1142
Jellehierck 37:806c7c8381a7 1143 // State transition guard
Jellehierck 37:806c7c8381a7 1144 if ( switch2_pressed == true ) { // DEMO MODE
Jellehierck 37:806c7c8381a7 1145 switch2_pressed = false;
Jellehierck 37:806c7c8381a7 1146 global_curr_state = global_demo;
Jellehierck 37:806c7c8381a7 1147 global_state_changed = true;
Jellehierck 52:fd35025574ca 1148 set_led_color('o'); // Disable wait mode LED
Jellehierck 31:b5188b6d45db 1149
Jellehierck 37:806c7c8381a7 1150 } else if ( button1_pressed == true ) { // EMG CALIBRATION
Jellehierck 37:806c7c8381a7 1151 button1_pressed = false;
Jellehierck 38:8b597ab8344f 1152 global_curr_state = global_emg_cal;
Jellehierck 37:806c7c8381a7 1153 global_state_changed = true;
Jellehierck 52:fd35025574ca 1154 set_led_color('o'); // Disable wait mode LED
Jellehierck 31:b5188b6d45db 1155
Jellehierck 37:806c7c8381a7 1156 } else if ( button2_pressed == true ) { // MOTOR CALIBRATION
Jellehierck 37:806c7c8381a7 1157 button2_pressed = false;
Jellehierck 38:8b597ab8344f 1158 global_curr_state = global_motor_cal;
Jellehierck 37:806c7c8381a7 1159 global_state_changed = true;
Jellehierck 52:fd35025574ca 1160 set_led_color('o'); // Disable wait mode LED
Jellehierck 42:2937ad8f1032 1161
Jellehierck 39:f9042483b921 1162 } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE
Jellehierck 39:f9042483b921 1163 global_curr_state = global_operation;
Jellehierck 39:f9042483b921 1164 global_state_changed = true;
Jellehierck 52:fd35025574ca 1165 set_led_color('o'); // Disable wait mode LED
Jellehierck 25:a1be4cf2ab0b 1166 }
Jellehierck 7:7a088536f1c9 1167 }
Jellehierck 7:7a088536f1c9 1168
Jellehierck 37:806c7c8381a7 1169 // EMG CALIBRATION MODE
Jellehierck 38:8b597ab8344f 1170 void do_global_emg_cal()
Jellehierck 21:e4569b47945e 1171 {
Jellehierck 37:806c7c8381a7 1172 // Entry function
Jellehierck 37:806c7c8381a7 1173 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1174 global_state_changed = false;
Jellehierck 51:7fe2659a1fcb 1175 set_led_color('p'); // Set EMG calibration LED (PURPLE)
Jellehierck 22:9079c6c0d898 1176 }
Jellehierck 7:7a088536f1c9 1177
Jellehierck 39:f9042483b921 1178 // Run EMG state machine until emg_cal_done flag is true
Jellehierck 39:f9042483b921 1179 emg_state_machine();
Jellehierck 31:b5188b6d45db 1180
Jellehierck 29:f51683a6cbbf 1181 // State transition guard
Jellehierck 39:f9042483b921 1182 if ( emg_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1183 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1184 global_state_changed = true;
Jellehierck 51:7fe2659a1fcb 1185 set_led_color('o'); // Disable EMG calibration LED
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 51:7fe2659a1fcb 1195 set_led_color('c'); // Set motor calibration LED (CYAN)
Jellehierck 25:a1be4cf2ab0b 1196 }
Jellehierck 25:a1be4cf2ab0b 1197
Jellehierck 25:a1be4cf2ab0b 1198 // Do stuff until end condition is met
Jellehierck 40:c6dffb676350 1199 motor_state_machine();
Jellehierck 28:59e8266f4633 1200
Jellehierck 25:a1be4cf2ab0b 1201 // State transition guard
Jellehierck 41:8e8141f355af 1202 if ( motor_cal_done == true ) { // WAIT MODE
Jellehierck 37:806c7c8381a7 1203 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1204 global_state_changed = true;
Jellehierck 51:7fe2659a1fcb 1205 set_led_color('o'); // Disable motor calibration LED
Jellehierck 23:8a0a0b959af1 1206 }
Jellehierck 23:8a0a0b959af1 1207 }
Jellehierck 23:8a0a0b959af1 1208
Jellehierck 37:806c7c8381a7 1209 // OPERATION MODE
Jellehierck 37:806c7c8381a7 1210 void do_global_operation()
Jellehierck 37:806c7c8381a7 1211 {
Jellehierck 37:806c7c8381a7 1212 // Entry function
Jellehierck 37:806c7c8381a7 1213 if ( global_state_changed == true ) {
Jellehierck 37:806c7c8381a7 1214 global_state_changed = false;
Jellehierck 40:c6dffb676350 1215
Jellehierck 39:f9042483b921 1216 emg_sampleNow = true; // Enable signal sampling in sampleSignals()
Jellehierck 39:f9042483b921 1217 emg_calibrateNow = false; // Disable calibration functionality in sampleSignals()
Jellehierck 51:7fe2659a1fcb 1218 set_led_color('g'); // Set operation led (GREEN)
Jellehierck 37:806c7c8381a7 1219 }
Jellehierck 37:806c7c8381a7 1220
Jellehierck 37:806c7c8381a7 1221 // Do stuff until end condition is met
Jellehierck 43:1bd5417ded64 1222 operation_state_machine();
Jellehierck 42:2937ad8f1032 1223
Jellehierck 39:f9042483b921 1224 // Set HIDScope outputs
Jellehierck 39:f9042483b921 1225 scope.set(0, emg1 );
Jellehierck 41:8e8141f355af 1226 scope.set(1, Vx );
Jellehierck 41:8e8141f355af 1227 scope.set(2, emg2 );
Jellehierck 41:8e8141f355af 1228 scope.set(3, Vy );
Jellehierck 39:f9042483b921 1229 scope.send();
Jellehierck 39:f9042483b921 1230
Jellehierck 37:806c7c8381a7 1231 // State transition guard
Jellehierck 51:7fe2659a1fcb 1232 if ( exit_operation == true ) {
Jellehierck 51:7fe2659a1fcb 1233 exit_operation = false;
Jellehierck 37:806c7c8381a7 1234 global_curr_state = global_wait;
Jellehierck 37:806c7c8381a7 1235 global_state_changed = true;
Jellehierck 52:fd35025574ca 1236 set_led_color('o'); // Disable operation led
Jellehierck 37:806c7c8381a7 1237 }
Jellehierck 37:806c7c8381a7 1238 }
Jellehierck 23:8a0a0b959af1 1239 /*
Jellehierck 37:806c7c8381a7 1240 ------------------------------ GLOBAL STATE MACHINE ------------------------------
Jellehierck 23:8a0a0b959af1 1241 */
Jellehierck 37:806c7c8381a7 1242 void global_state_machine()
Jellehierck 23:8a0a0b959af1 1243 {
Jellehierck 37:806c7c8381a7 1244 switch(global_curr_state) {
Jellehierck 37:806c7c8381a7 1245 case global_failure:
Jellehierck 37:806c7c8381a7 1246 do_global_failure();
Jellehierck 23:8a0a0b959af1 1247 break;
Jellehierck 37:806c7c8381a7 1248 case global_wait:
Jellehierck 37:806c7c8381a7 1249 do_global_wait();
Jellehierck 37:806c7c8381a7 1250 break;
Jellehierck 38:8b597ab8344f 1251 case global_emg_cal:
Jellehierck 38:8b597ab8344f 1252 do_global_emg_cal();
Jellehierck 23:8a0a0b959af1 1253 break;
Jellehierck 38:8b597ab8344f 1254 case global_motor_cal:
Jellehierck 38:8b597ab8344f 1255 do_global_motor_cal();
Jellehierck 23:8a0a0b959af1 1256 break;
Jellehierck 37:806c7c8381a7 1257 case global_operation:
Jellehierck 37:806c7c8381a7 1258 do_global_operation();
Jellehierck 37:806c7c8381a7 1259 break;
Jellehierck 37:806c7c8381a7 1260 case global_demo:
Jellehierck 37:806c7c8381a7 1261 do_global_demo();
Jellehierck 23:8a0a0b959af1 1262 break;
Jellehierck 23:8a0a0b959af1 1263 }
Jellehierck 23:8a0a0b959af1 1264 }
Jellehierck 23:8a0a0b959af1 1265
Jellehierck 38:8b597ab8344f 1266 /*
Jellehierck 54:a14acf0d1683 1267 ------------------------------ OTHER MAIN LOOP FUNCTIONS ------------------------------
Jellehierck 38:8b597ab8344f 1268 */
Jellehierck 38:8b597ab8344f 1269 void sampleSignals()
Jellehierck 38:8b597ab8344f 1270 {
Jellehierck 38:8b597ab8344f 1271 if (emg_sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 38:8b597ab8344f 1272 // Read EMG inputs
Jellehierck 38:8b597ab8344f 1273 emg1 = emg1_in.read();
Jellehierck 38:8b597ab8344f 1274 emg2 = emg2_in.read();
Jellehierck 38:8b597ab8344f 1275 emg3 = emg3_in.read();
Jellehierck 45:d09040915cfe 1276 emg4 = emg4_in.read();
Jellehierck 38:8b597ab8344f 1277
Jellehierck 38:8b597ab8344f 1278 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 38:8b597ab8344f 1279 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1280 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1281 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1282
Jellehierck 38:8b597ab8344f 1283 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 38:8b597ab8344f 1284 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1285 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1286 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1287
Jellehierck 38:8b597ab8344f 1288 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 38:8b597ab8344f 1289 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 38:8b597ab8344f 1290 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 38:8b597ab8344f 1291 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 51:7fe2659a1fcb 1292
Jellehierck 45:d09040915cfe 1293 double emg4_n = bqc4_notch.step( emg4 ); // Filter notch
Jellehierck 45:d09040915cfe 1294 double emg4_hp = bqc4_high.step( emg4_n ); // Filter highpass
Jellehierck 45:d09040915cfe 1295 double emg4_rectify = fabs( emg4_hp ); // Rectify
Jellehierck 45:d09040915cfe 1296 emg4_env = bqc4_low.step( emg4_rectify ); // Filter lowpass (completes envelope)
Jellehierck 38:8b597ab8344f 1297
Jellehierck 38:8b597ab8344f 1298 if (emg_calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 38:8b597ab8344f 1299 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1300 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1301 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 45:d09040915cfe 1302 emg4_cal.push_back(emg4_env); // Add values to calibration vector
Jellehierck 38:8b597ab8344f 1303 }
Jellehierck 38:8b597ab8344f 1304 }
Jellehierck 40:c6dffb676350 1305
Jellehierck 40:c6dffb676350 1306 counts1af = encoder1.getPulses();
Jellehierck 40:c6dffb676350 1307 deltaCounts1 = counts1af - countsPrev1;
Jellehierck 40:c6dffb676350 1308 countsPrev1 = counts1af;
Jellehierck 40:c6dffb676350 1309
Jellehierck 40:c6dffb676350 1310 counts2af = encoder2.getPulses();
Jellehierck 40:c6dffb676350 1311 deltaCounts2 = counts2af - countsPrev2;
Jellehierck 40:c6dffb676350 1312 countsPrev2 = counts2af;
Jellehierck 38:8b597ab8344f 1313 }
Jellehierck 37:806c7c8381a7 1314
Jellehierck 54:a14acf0d1683 1315 void changeservo()
Jellehierck 54:a14acf0d1683 1316 {
Jellehierck 54:a14acf0d1683 1317 servo_button1 = extButton1.read();
Jellehierck 54:a14acf0d1683 1318 if (servo_button1 == 1) {
Jellehierck 54:a14acf0d1683 1319 myservo.SetPosition(2000);
Jellehierck 54:a14acf0d1683 1320 } else {
Jellehierck 54:a14acf0d1683 1321 myservo.SetPosition(1000);
Jellehierck 54:a14acf0d1683 1322 }
Jellehierck 54:a14acf0d1683 1323 }
Jellehierck 54:a14acf0d1683 1324
Jellehierck 37:806c7c8381a7 1325 /*
Jellehierck 37:806c7c8381a7 1326 ------------------------------ GLOBAL PROGRAM LOOP ------------------------------
Jellehierck 37:806c7c8381a7 1327 */
Jellehierck 25:a1be4cf2ab0b 1328 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 1329 {
Jellehierck 38:8b597ab8344f 1330 sampleSignals();
Jellehierck 37:806c7c8381a7 1331 global_state_machine();
BasB 47:63b5ccd969e9 1332 changeservo();
Jellehierck 25:a1be4cf2ab0b 1333 }
Jellehierck 25:a1be4cf2ab0b 1334
Jellehierck 37:806c7c8381a7 1335 /*
Jellehierck 37:806c7c8381a7 1336 ------------------------------ MAIN FUNCTION ------------------------------
Jellehierck 37:806c7c8381a7 1337 */
Jellehierck 39:f9042483b921 1338 int main()
Jellehierck 23:8a0a0b959af1 1339 {
Jellehierck 23:8a0a0b959af1 1340 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 1341 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 1342
Jellehierck 51:7fe2659a1fcb 1343 global_curr_state = global_wait; // Start off in global wait state
Jellehierck 34:13fac02ef324 1344 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 51:7fe2659a1fcb 1345 tickLED.attach ( &disp_led_color, 0.25f ); // Start LED ticker
Jellehierck 8:ea3de43c9e8b 1346
Jellehierck 51:7fe2659a1fcb 1347 // ---------- Enable Servo ----------
Jellehierck 51:7fe2659a1fcb 1348 myservo.Enable(1000, 20000);
BasB 48:31676da4be7a 1349
Jellehierck 38:8b597ab8344f 1350 // ---------- Attach filters ----------
Jellehierck 38:8b597ab8344f 1351 bqc1_notch.add( &bq1_notch );
Jellehierck 38:8b597ab8344f 1352 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 38:8b597ab8344f 1353 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 38:8b597ab8344f 1354
Jellehierck 38:8b597ab8344f 1355 bqc2_notch.add( &bq2_notch );
Jellehierck 38:8b597ab8344f 1356 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 38:8b597ab8344f 1357 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 38:8b597ab8344f 1358
Jellehierck 38:8b597ab8344f 1359 bqc3_notch.add( &bq3_notch );
Jellehierck 38:8b597ab8344f 1360 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 38:8b597ab8344f 1361 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 51:7fe2659a1fcb 1362
Jellehierck 45:d09040915cfe 1363 bqc4_notch.add( &bq4_notch );
Jellehierck 45:d09040915cfe 1364 bqc4_high.add( &bq4_H1 ).add( &bq4_H2 );
Jellehierck 45:d09040915cfe 1365 bqc4_low.add( &bq4_L1 ).add( &bq4_L2 );
Jellehierck 38:8b597ab8344f 1366
Jellehierck 38:8b597ab8344f 1367 // ---------- Attach buttons ----------
Jellehierck 37:806c7c8381a7 1368 button1.fall( &button1Press );
Jellehierck 37:806c7c8381a7 1369 button2.fall( &button2Press );
Jellehierck 37:806c7c8381a7 1370 switch2.fall( &switch2Press );
Jellehierck 37:806c7c8381a7 1371 switch3.fall( &switch3Press );
Jellehierck 51:7fe2659a1fcb 1372 extButton1.mode( PullUp ); // To make sure the servo works
Jellehierck 42:2937ad8f1032 1373
Jellehierck 40:c6dffb676350 1374 // ---------- Attach PWM ----------
Jellehierck 40:c6dffb676350 1375 motor1Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1376 motor2Power.period(PWM_period);
Jellehierck 40:c6dffb676350 1377
Jellehierck 38:8b597ab8344f 1378 // ---------- Turn OFF LEDs ----------
Jellehierck 51:7fe2659a1fcb 1379 set_led_color('o');
Jellehierck 37:806c7c8381a7 1380
Jellehierck 23:8a0a0b959af1 1381 while(true) {
Jellehierck 45:d09040915cfe 1382 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 1383 pc.printf("Potmeter 1: %f Potmeter 2: %f\r\n", potmeter1.read(), potmeter2.read());
BasB 47:63b5ccd969e9 1384 //pc.printf("EMG1 direction: %f EMG2 direction: %f \r\n", emg1_dir, emg2_dir);
Jellehierck 53:35282a3e0cad 1385 //pc.printf("q1: %f q2: %f \r\n",q1*rad2deg,q2*rad2deg);
Jellehierck 53:35282a3e0cad 1386 //pc.printf("Motor1ref: %f Motor1angle: %f\r\n",motor1_ref*rad2deg/5.5f,motor1_angle*rad2deg/5.5f);
Jellehierck 53:35282a3e0cad 1387 //pc.printf("Motor2ref: %f Motor2angle: %f\r\n",motor2_ref*rad2deg/2.75f,motor2_angle*rad2deg/2.75f);
Jellehierck 45:d09040915cfe 1388 //pc.printf("Xe: %f Ye: %f\r\n",xe,ye);
Jellehierck 30:bac3b60d6283 1389 wait(0.5f);
Jellehierck 23:8a0a0b959af1 1390 }
Jellehierck 23:8a0a0b959af1 1391 }