![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 70:c4a019e3830d
- Parent:
- 69:bfefdfb04c29
--- a/main.cpp Tue Nov 05 10:24:09 2019 +0000 +++ b/main.cpp Tue Nov 05 16:49:03 2019 +0000 @@ -15,26 +15,26 @@ */ // PC connections -HIDScope scope( 6 ); -MODSERIAL pc(USBTX, USBRX); +HIDScope scope( 6 ); // Only to visualize data, not necessary for operation +MODSERIAL pc(USBTX, USBRX); // Only to visualize data, not necessary for operation // Buttons -InterruptIn button1(D11); -InterruptIn button2(D10); -InterruptIn switch2(SW2); -InterruptIn switch3(SW3); -DigitalIn extButton1(D2); //Servo button +InterruptIn button1(D11); // First dynamic button +InterruptIn button2(D10); // Second dynamic button +InterruptIn switch2(SW2); // Third dynamic button +InterruptIn switch3(SW3); // Failure button +DigitalIn extButton1(D2); // External servo button // LEDs -DigitalOut led_g(LED_GREEN); -DigitalOut led_r(LED_RED); -DigitalOut led_b(LED_BLUE); +DigitalOut led_g(LED_GREEN); +DigitalOut led_r(LED_RED); +DigitalOut led_b(LED_BLUE); // Analog EMG inputs -AnalogIn emg1_in (A0); // Right biceps -> x axis -AnalogIn emg2_in (A1); // Left biceps -> y axis -AnalogIn emg3_in (A2); // Right tibia -> x direction -AnalogIn emg4_in (A3); // Left tibia -> y direction +AnalogIn emg1_in (A0); // Right biceps -> x velocity +AnalogIn emg2_in (A1); // Left biceps -> y velocity +AnalogIn emg3_in (A2); // Right tibialis anterior -> x direction +AnalogIn emg4_in (A3); // Left tibialis anterior -> y direction // Analog Potmeter inputs AnalogIn potmeter1 (A4); @@ -90,19 +90,19 @@ bool motor_encoder_cal_done = false; // Internal encoder calibration flag // Operation Substate variables -enum Operation_States { operation_wait, operation_movement, operation_finish }; // Define operation substates +enum Operation_States { operation_wait, operation_movement }; // Define operation substates Operation_States operation_curr_state = operation_wait; // Initialize operation substate variable bool operation_state_changed = true; // Enable entry functions bool operation_showcard = false; // Internal flag to toggle servo position -bool exit_operation = false; +bool exit_operation = false; // State transition flag for operation exit // Demo Substate variables enum Demo_States { demo_wait, demo_motor_cal, demo_positioning, demo_XY }; // Define demo substates Demo_States demo_curr_state; // Initialize demo substate variable bool demo_state_changed = true; // Enable entry functions -bool exit_demo = false; +bool exit_demo = false; // State transition flag for demo exit -// Button press interrupts (to prevent bounce) +// Button press flags (to prevent bounce) bool button1_pressed = false; bool button2_pressed = false; bool switch2_pressed = false; @@ -114,13 +114,13 @@ bool led_color_changed = true; // Enable LED entry functions // Global constants -const double Fs = 500.0; //Sampling frequency -const double Ts = 1/Fs; +const double Fs = 500.0; // Sampling frequency +const double Ts = 1/Fs; // Sampling time /* ------------------------------ LED COLOR FUNCTIONS ------------------------------ */ -// Only called once when color is changed +// Function to set the color of the blinking LED void set_led_color(char color) { switch(color) { @@ -153,16 +153,16 @@ led_color_changed = true; } -// Run constantly +// Function which toggles the LED output void disp_led_color() { - if (led_color_changed == true) { + if (led_color_changed == true) { // Turns all LEDs off led_color_changed = false; led_g = 1; led_b = 1; led_r = 1; } - switch(curr_led_color) { + switch(curr_led_color) { // Toggles LEDs according to color requirement case off: break; case red: @@ -245,29 +245,42 @@ ------------------------------ BUTTON FUNCTIONS ------------------------------ */ -// Handle button press +// Prevent button bounce void button1Press() { button1_pressed = true; } -// Handle button press +// Prevent button bounce void button2Press() { button2_pressed = true; } +// Prevent button bounce void switch2Press() { switch2_pressed = true; } +// Set global state to failure mode void switch3Press() { global_curr_state = global_failure; global_state_changed = true; } +// Toggle the servo (end effector orientation) +void changeservo() +{ + servo_button1 = extButton1.read(); + if (servo_button1 == 1) { + myservo.SetPosition(2000); + } else { + myservo.SetPosition(1000); + } +} + /* ------------------------------ EMG GLOBAL VARIABLES & CONSTANTS ------------------------------ */ @@ -275,55 +288,52 @@ // Set global constant values for EMG reading & analysis const double Tcal = 7.5f; // Calibration duration (s) -// Initialize variables for EMG reading & analysis -double emg1; -double emg1_env; -double emg1_MVC; -double emg1_rest; -double emg1_factor;//delete -double emg1_th; -double emg1_out; -double emg1_norm; //delete -vector<double> emg1_cal; -int emg1_cal_size; //delete -double emg1_dir = 1.0; +// Initialize variables for EMG reading & analysis of biceps signals +vector<double> emg1_cal; // Array of calibration data +double emg1; // Raw EMG input +double emg1_env; // Filtered EMG input +double emg1_MVC; // MVC value for signal scaling +double emg1_factor; // Scale factor for MVC scaling +double emg1_rest; // Rest value for signal threshold +double emg1_th; // Signal threshold +double emg1_dir = 1.0; // Direction of EMG output (1.0 = positive, -1.0 = negative) +double emg1_out; // EMG output (normalized reference velocity with direction) +// See emg1 for documentation +vector<double> emg2_cal; double emg2; double emg2_env; double emg2_MVC; +double emg2_factor; double emg2_rest; -double emg2_factor;//delete double emg2_th; +double emg2_dir = 1.0; double emg2_out; -double emg2_norm;//delete -vector<double> emg2_cal; -int emg2_cal_size;//delete -double emg2_dir = 1.0; -double emg3; -double emg3_env; -double emg3_MVC; -double emg3_rest; -double emg3_factor;//delete -double emg3_th; -double emg3_out; -double emg3_norm;//delete -vector<double> emg3_cal; +// Initialize variables for EMG reading & analysis of tibialis anterior signals +vector<double> emg3_cal; // Array of calibration data +double emg3; // Raw EMG input +double emg3_env; // Filtered EMG input +double emg3_MVC; // MVC value for signal scaling +double emg3_factor; // Scale factor for MVC scaling +double emg3_rest; // Rest value for signal threshold +double emg3_th; // Signal threshold +// See emg3 for documentation +vector<double> emg4_cal; double emg4; double emg4_env; double emg4_MVC; +double emg4_factor; double emg4_rest; -double emg4_factor;//delete double emg4_th; -double emg4_out; -double emg4_norm;//delete -vector<double> emg4_cal; /* ------------------------------ EMG FILTERS ------------------------------ */ +// NOTE: Every filter needs to be repeated for every EMG input signal, 4 times in total. All filters are equal for every EMG input signal. + // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB: BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21 BiQuad bq2_notch = bq1_notch; @@ -335,6 +345,7 @@ BiQuadChain bqc4_notch; // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB +// 4th order behaviour is obtained by chaining two BiQuad (2nd order) filters (H1 and H2) BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22 BiQuad bq2_H1 = bq1_H1; @@ -349,6 +360,7 @@ BiQuadChain bqc4_high; // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB: +// 4th order behaviour is obtained by chaining two BiQuad (2nd order) filters (L1 and L2) BiQuad bq1_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); // b01 b11 b21 a01 a11 a21 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22 BiQuad bq2_L1 = bq1_L1; @@ -362,7 +374,7 @@ BiQuadChain bqc3_low; BiQuadChain bqc4_low; -// Function to check filter stability +// DEPRECATED Function to check filter stability bool checkBQChainStable() { bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains @@ -379,16 +391,16 @@ /* ------------------------------ EMG GLOBAL FUNCTIONS ------------------------------ */ - +// Function to bundle camputations in operation mode for better overview in (sub)state functions void EMGOperationFunc() { - emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor - emg2_norm = emg2_env * emg2_factor; // Idem - emg3_norm = emg3_env * emg3_factor; // Idem - emg4_norm = emg4_env * emg4_factor; // Idem + double emg1_norm = emg1_env * emg1_factor; // Normalize current EMG signal with calibrated factor + double emg2_norm = emg2_env * emg2_factor; // Idem + double emg3_norm = emg3_env * emg3_factor; // Idem + double emg4_norm = emg4_env * emg4_factor; // Idem - // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES) + // Set normalized EMG output signal if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored) emg1_out = 0.0; } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value) @@ -399,7 +411,7 @@ emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1); } - // Idem for emg2 + // See emg1 for documentation if ( emg2_norm < emg2_th ) { emg2_out = 0.0; } else if ( emg2_norm > 1.0f ) { @@ -408,16 +420,17 @@ emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1); } - // Idem for emg3 - if ( emg3_norm < emg3_th ) { + // Sets direction of emg1 + if ( emg3_norm < emg3_th ) { // Default: no tibialis activity = positive x direction emg1_dir = 1.0; - } else { + } else { // Tibialis activity = negative x direction emg1_dir = -1.0; } + // Sets direction of emg2 if ( emg4_norm < emg4_th ) { - emg2_dir = 1.0; - } else { + emg2_dir = 1.0; // Default: no tibialis activity = positive y direction + } else { // Tibialis activity = negative y direction emg2_dir = -1.0; } } @@ -481,6 +494,7 @@ } // Do stuff until end condition is met + // Set HIDScope outputs scope.set(0, emg1 ); scope.set(1, emg2 ); @@ -531,7 +545,7 @@ emg_state_changed = false; // Disable entry functions // Compute scale factors for all EMG signals - double margin_percentage = 5; // Set up % margin for rest + double margin_percentage = 5; // Set up % margin for rest. This percentage was aqcuired after testing multiple thresholds, user found a 5% margin felt most 'natural' emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC @@ -582,23 +596,23 @@ ------------------------------ MOTOR GLOBAL VARIABLES & CONSTANTS ------------------------------ */ // Initialize encoder -int encoder_res = 64; +int encoder_res = 64; // Encoder resolution -QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1 -QEI encoder2(D12, D13, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2 +QEI encoder1(D9, D8, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 1 +QEI encoder2(D12, D13, NC, encoder_res, QEI::X4_ENCODING); //Encoder of motor 2 // Initialize variables for encoder reading volatile int counts1; //Counts after compensation with offset volatile int counts1af; //Counts measured by encoder int counts1offset; //Offset due to calibration -volatile int countsPrev1 = 0; -volatile int deltaCounts1; +volatile int countsPrev1 = 0; // Stores previous encoder counts for time delay +volatile int deltaCounts1; // Difference in counts volatile int counts2; // Counts after compensation with offset volatile int counts2af; //Counts measured by encoder int counts2offset; //Offset due to calibration -volatile int countsPrev2 = 0; -volatile int deltaCounts2; +volatile int countsPrev2 = 0; // Stores previous encoder counts for time delay +volatile int deltaCounts2; // Difference in counts // PWM period const float PWM_period = 1/(18*10e3); // 18000 Hz @@ -683,37 +697,38 @@ static float e_prev1 = motor1_error; // Saving the previous error, needed for derivative computation //Proportional part - u_p1 = Kp * motor1_error; + u_p1 = Kp * motor1_error; // Output of proportional part //Integral part if ( motor_curr_state == motor_finish || operation_curr_state == operation_movement || demo_curr_state == demo_XY || demo_curr_state == demo_positioning ) { // Only active during operational states to prevent windup - error_integral1 = error_integral1 + ei1 * Ts; - u_i1 = Ki * error_integral1; + error_integral1 = error_integral1 + ei1 * Ts; // Previous integral error addition + u_i1 = Ki * error_integral1; // Output of integral part } //Derivative part - float error_derivative1 = (motor1_error - e_prev1) / Ts; - float u_d1 = Kd * error_derivative1; - e_prev1 = motor1_error; + float error_derivative1 = (motor1_error - e_prev1) / Ts; // Derivative error + float u_d1 = Kd * error_derivative1; // Output of derivative part + e_prev1 = motor1_error; // Set up derivative error for next cycle - // Sum and limit up1 = u_p1 + u_i1 + u_d1; // Sum the contributions of P, I and D - if ( up1 > 1.0f ) { // Saturated limit of motor, contintue with value between -1 and 1 + + // Saturation + if ( up1 > 1.0f ) { // Saturated positive limit of motor, set output equal to 1 controlsignal1 = 1.0f; - } else if ( up1 < -1.0f ) { + } else if ( up1 < -1.0f ) { // Saturated negative limit of motor, set output equal to -1 controlsignal1 = -1.0f; } else { - controlsignal1 = up1; + controlsignal1 = up1; // No saturation, motor output is scaled normally } - // To prevent windup + // Windup control ux1 = up1 - controlsignal1; // Computation of the overflow - ek1 = Ka * ux1; + ek1 = Ka * ux1; // Output of windup action ei1 = motor1_error - ek1; // Integral error with windup subtracted - // Motor 2 + // Motor 2 (see motor 1 for documentation) static float error_integral2 = 0.0; - static float e_prev2 = motor2_error; // Saving the previous error, needed for derivative computation + static float e_prev2 = motor2_error; //Proportional part: u_p2 = Kp * motor2_error; @@ -729,9 +744,10 @@ float u_d2 = Kd * error_derivative2; e_prev2 = motor2_error; - // Sum and limit - up2 = u_p2 + u_i2 + u_d2; // Sum the contributions of P, I and D - if ( up2 > 1.0f ) { // Saturated limit of motor, contintue with value between -1 and 1 + up2 = u_p2 + u_i2 + u_d2; + + // Saturation + if ( up2 > 1.0f ) { controlsignal2 = 1.0f; } else if ( up2 < -1.0f ) { controlsignal2 = -1.0f; @@ -739,10 +755,10 @@ controlsignal2 = up2; } - // To prevent windup - ux2 = up2 - controlsignal2; // Computation of the overflow + // Windup control + ux2 = up2 - controlsignal2; ek2 = Ka * ux2; - ei2 = motor2_error - ek2; // Integral error with windup subtracted + ei2 = motor2_error - ek2; } void RKI() @@ -756,19 +772,19 @@ xe = l1 * cos(q1) + l2 * cos(q1+q2); // Calculation of the current endpoint position ye = l1 * sin(q1) + l2 * sin(q1+q2); // Calculation of the current endpoint position - if ( q1 < -5.0f * deg2rad) { // Setting limits to the joint angles + if ( q1 < -5.0f * deg2rad) { // Prevent angles to exceed software limits q1 = -5.0f * deg2rad; - } else if ( q1 > 65.0f * deg2rad ) { // Setting limits to the joint angles + } else if ( q1 > 65.0f * deg2rad ) { // Prevent angles to exceed software limits q1 = 65.0f * deg2rad; - } else { + } else { // Regular angle output q1 = q1; } - if ( q2 > -50.0f * deg2rad ) { // Setting limits to the joint angles + if ( q2 > -50.0f * deg2rad ) { // Prevent angles to exceed software limits q2 = -50.0f * deg2rad; - } else if ( q2 < -138.0f * deg2rad ) { // Setting limits to the joint angles + } else if ( q2 < -138.0f * deg2rad ) { // Prevent angles to exceed software limits q2 = -138.0f * deg2rad; - } else { + } else { // Regular angle output q2 = q2; } @@ -776,6 +792,7 @@ motor2_ref = 2.75f * q1; // Calculating the desired motor angle to attain the correct joint angles } +// Function to provide power to motors void motorControl() { counts1 = counts1af - counts1offset; // Counts measured by encoder compensated with the offset due to calibration @@ -806,6 +823,7 @@ motor2Direction = motordir2; // Assigning the desired direction to the motor } +// Function to stop all motor movement void motorKillPower() { motor1Power.write(0.0f); // Setting motor power to 0 to stop motion @@ -822,10 +840,9 @@ // Entry function if ( motor_state_changed == true ) { motor_state_changed = false; - // More functions } motor1Power.write(0.0f); // Giving the motor no power to be able to adjust the robot configuration - motor2Power.write(0.0f); + motor2Power.write(0.0f); // Giving the motor no power to be able to adjust the robot configuration counts1offset = counts1af ; // Storing the offset of the encoder counts2offset = counts2af; // Storing the offset of the encoder @@ -843,17 +860,19 @@ // Entry function if ( motor_state_changed == true ) { motor_state_changed = false; - timerStateChange.reset(); - timerStateChange.start(); + timerStateChange.reset(); // Sets timer to 0 + timerStateChange.start(); // Starts timer to proceed automatically to next state } // Do stuff until end condition is true + + // Perform all motor functions PID_controller(); - motorControl(); //These three functions cause the robot to move within the link limits + motorControl(); RKI(); // State transition guard - if ( timerStateChange.read() >= 3.0f ) { // After 3 seconds move to next state + if ( timerStateChange.read() >= 3.0f ) { // After 3 seconds, the robot is in its home position. Move to next state button2_pressed = false; motor_cal_done = true; motor_curr_state = motor_encoder_set; @@ -889,27 +908,29 @@ } // Do stuff until end condition is met - EMGOperationFunc(); + + EMGOperationFunc(); // Run EMG operation - Vx = emg1_out * (10.0f + 10.0f * potmeter1.read() ) * emg1_dir; - Vy = emg2_out * (10.0f + 10.0f * potmeter2.read() ) * emg2_dir; + Vx = emg1_out * (10.0f + 10.0f * potmeter1.read() ) * emg1_dir; // Scale Vx to have more responsive motor control. Potmeter is used to allow user to further finetune + Vy = emg2_out * (10.0f + 10.0f * potmeter2.read() ) * emg2_dir; // Scale Vy to have more responsive motor control. Potmeter is used to allow user to further finetune + // Perform all motor functions PID_controller(); motorControl(); RKI(); - motorKillPower(); // Disables motor outputs + motorKillPower(); // Disables motor outputs to prevent any actual output, since this is the waiting state // State transition guard - if ( button1_pressed == true ) { + if ( button1_pressed == true ) { // operation_movement button1_pressed = false; operation_curr_state = operation_movement; operation_state_changed = true; - } else if ( button2_pressed == true ) { + } else if ( button2_pressed == true ) { // global_wait button2_pressed = false; - operation_curr_state = operation_wait; - operation_state_changed = true; - exit_operation = true; + operation_curr_state = operation_wait; // Prepares system to enter operation mode again + operation_state_changed = true; // Prepares system to enter operation mode again + exit_operation = true; // This flag actually makes the state proceed to global_wait } } @@ -923,25 +944,22 @@ } // Do stuff until end condition is met - EMGOperationFunc(); + + EMGOperationFunc(); // Run EMG operation - Vx = emg1_out * (10.0f + 10.0f * potmeter1.read() ) * emg1_dir; - Vy = emg2_out * (10.0f + 10.0f * potmeter2.read() ) * emg2_dir; + Vx = emg1_out * (10.0f + 10.0f * potmeter1.read() ) * emg1_dir; // Scale Vx to have more responsive motor control. Potmeter is used to allow user to further finetune + Vy = emg2_out * (10.0f + 10.0f * potmeter2.read() ) * emg2_dir; // Scale Vy to have more responsive motor control. Potmeter is used to allow user to further finetune + // Perform all motor functions PID_controller(); motorControl(); RKI(); // State transition guard - if ( button1_pressed == true ) { + if ( button1_pressed == true ) { // operation_wait button1_pressed = false; operation_curr_state = operation_wait; operation_state_changed = true; - } else if ( button2_pressed == true ) { - button2_pressed = false; - operation_curr_state = operation_wait; - operation_state_changed = true; - exit_operation = true; } } @@ -971,25 +989,25 @@ demo_state_changed = false; } - // Do nothing until end condition is met + // Perform all motor functions PID_controller(); motorControl(); RKI(); - motorKillPower(); + motorKillPower(); // Set output to zero to prevent any motor outputs, since this is a waiting state // State transition guard - if ( button1_pressed == true ) { // demo_XY + if ( button1_pressed == true ) { // demo_positioning button1_pressed = false; demo_curr_state = demo_positioning; demo_state_changed = true; // More functions } else if ( switch2_pressed == true ) { // Return to global wait switch2_pressed = false; - demo_curr_state = demo_wait; - demo_state_changed = true; - motor_cal_done = false; // Disables motor calibration again (robot is probably not in reference position) - exit_demo = true; + demo_curr_state = demo_wait; // Prepares system to enter demo mode again + demo_state_changed = true; // Prepares system to enter demo mode again + motor_cal_done = false; // Disables motor calibration again (since robot is probably not in reference position anymore) + exit_demo = true; // This flag actually makes the state proceed to global_wait } } @@ -1005,8 +1023,7 @@ motorControl(); RKI(); - // Do stuff until end condition is met - motor_state_machine(); + motor_state_machine(); // Run regular motor calibration state machine // State transition guard if ( motor_cal_done == true ) { // demo_wait @@ -1025,7 +1042,6 @@ timerStateChange.start(); } - Vx = 5.0; // Move in the positive x direction Vy = 5.0; // Move in the positive y direction @@ -1033,12 +1049,8 @@ motorControl(); RKI(); - scope.set(0, motor2_ref * rad2deg ); - scope.set(1, motor2_angle * rad2deg ); - scope.send(); - // State transition guard - if ( timerStateChange.read() >= 5.0f ) { // demo_wait + if ( timerStateChange.read() >= 5.0f ) { // demo_XY button1_pressed = false; demo_curr_state = demo_XY; demo_state_changed = true; @@ -1053,9 +1065,11 @@ } // Do stuff until end condition is met + static float t = 0.0; - - if ( t >= 0.0f && t < 3.0f ) { // With this code the endpoint will make a square every 12 seconds + + // The endpoint will make a square every 12 seconds + if ( t >= 0.0f && t < 3.0f ) { Vx = 5.0; } else if ( t >= 3.0f && t < 6.0f ) { Vx = 0.0; @@ -1076,12 +1090,6 @@ motorControl(); RKI(); - scope.set(0, motor2_ref * rad2deg ); - scope.set(1, motor2_angle * rad2deg ); - //scope.set(2, motor2_ref ); - //scope.set(3, motor2_angle ); - scope.send(); - // State transition guard if ( button1_pressed == true ) { // demo_wait t = 0.0; @@ -1167,9 +1175,9 @@ set_led_color('y'); // Set demo mode LED (YELLOW) emg_cal_done = false; // Disables EMG calibration to prevent going into operation mode after exiting demo state - if ( motor_cal_done == true ) { + if ( motor_cal_done == true ) { // Motor calibration is already finished, move to demo_wait demo_curr_state = demo_wait; - } else if (motor_cal_done == false ) { + } else if (motor_cal_done == false ) { // Motor calibration is not yet finished, perform motor calibration first demo_curr_state = demo_motor_cal; } demo_state_changed = true; @@ -1179,13 +1187,13 @@ demo_state_machine(); // State transition guard - if ( exit_demo == true ) { + if ( exit_demo == true ) { // global_wait exit_demo = false; global_curr_state = global_wait; global_state_changed = true; set_led_color('o'); // Disable demo mode LED - motor1_ref = motor1_init; + motor1_ref = motor1_init; // Reset all motor values to prevent aggressive swing when entering another movement mode motor1_angle = motor1_init; motor2_ref = motor2_init; motor2_angle = motor2_init; @@ -1206,25 +1214,25 @@ // State transition guard - if ( switch2_pressed == true ) { // DEMO MODE + if ( switch2_pressed == true ) { // global_demo switch2_pressed = false; global_curr_state = global_demo; global_state_changed = true; set_led_color('o'); // Disable wait mode LED - } else if ( button1_pressed == true ) { // EMG CALIBRATION + } else if ( button1_pressed == true ) { // global_emg_cal button1_pressed = false; global_curr_state = global_emg_cal; global_state_changed = true; set_led_color('o'); // Disable wait mode LED - } else if ( button2_pressed == true ) { // MOTOR CALIBRATION + } else if ( button2_pressed == true ) { // global_motor_cal button2_pressed = false; global_curr_state = global_motor_cal; global_state_changed = true; set_led_color('o'); // Disable wait mode LED - } else if ( emg_cal_done && motor_cal_done ) { // OPERATION MODE + } else if ( emg_cal_done && motor_cal_done ) { // global_operation global_curr_state = global_operation; global_state_changed = true; set_led_color('o'); // Disable wait mode LED @@ -1244,7 +1252,7 @@ emg_state_machine(); // State transition guard - if ( emg_cal_done == true ) { // WAIT MODE + if ( emg_cal_done == true ) { // global_wait global_curr_state = global_wait; global_state_changed = true; set_led_color('o'); // Disable EMG calibration LED @@ -1264,7 +1272,7 @@ motor_state_machine(); // State transition guard - if ( motor_cal_done == true ) { // WAIT MODE + if ( motor_cal_done == true ) { // global_wait global_curr_state = global_wait; global_state_changed = true; set_led_color('o'); // Disable motor calibration LED @@ -1278,8 +1286,8 @@ if ( global_state_changed == true ) { global_state_changed = false; - button1.fall( &button1Press ); - button2.fall( &button2Press ); + button1.fall( &button1Press ); // Enables buttons again + button2.fall( &button2Press ); // Enables buttons again emg_sampleNow = true; // Enable signal sampling in sampleSignals() emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() @@ -1292,20 +1300,22 @@ // Set HIDScope outputs scope.set(0, emg1 ); scope.set(1, Vx ); - scope.set(2, emg2 ); - scope.set(3, Vy ); + scope.set(2, motor1_angle ); + scope.set(3, emg2 ); + scope.set(4, Vy ); + scope.set(5, motor1_angle ); scope.send(); // State transition guard - if ( exit_operation == true ) { + if ( exit_operation == true ) { // global_wait exit_operation = false; global_curr_state = global_wait; global_state_changed = true; set_led_color('o'); // Disable operation led emg_sampleNow = false; // Enable signal sampling in sampleSignals() emg_calibrateNow = false; // Disable calibration functionality in sampleSignals() - emg_cal_done = false; - motor_cal_done = false; + emg_cal_done = false; // Requires user to calibrate again + motor_cal_done = false; // Requires user to calibrate again } } /* @@ -1340,7 +1350,7 @@ */ void sampleSignals() { - if (emg_sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations + if (emg_sampleNow == true) { // Only samples if the sample flag is true, to prevent unnecessary computations // Read EMG inputs emg1 = emg1_in.read(); emg2 = emg2_in.read(); @@ -1375,6 +1385,7 @@ } } + // Always reads encoder inputs counts1af = encoder1.getPulses(); deltaCounts1 = counts1af - countsPrev1; countsPrev1 = counts1af; @@ -1384,16 +1395,6 @@ countsPrev2 = counts2af; } -void changeservo() -{ - servo_button1 = extButton1.read(); - if (servo_button1 == 1) { - myservo.SetPosition(2000); - } else { - myservo.SetPosition(1000); - } -} - /* ------------------------------ GLOBAL PROGRAM LOOP ------------------------------ */ @@ -1451,9 +1452,7 @@ set_led_color('o'); while(true) { - 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); - pc.printf("Potmeter 1: %f Potmeter 2: %f\r\n", potmeter1.read(), potmeter2.read()); - //pc.printf("Xe: %f Ye: %f\r\n",xe,ye); + 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); // Displays current (sub)states wait(0.5f); } } \ No newline at end of file