M9 Biorobotics Group 8
De hele robot in 1 keer bam
Dependencies: mbed QEI Servo HIDScope biquadFilter MODSERIAL FastPWM
Revision 70:c4a019e3830d, committed 2019-11-05
- Comitter:
- Jellehierck
- Date:
- Tue Nov 05 16:49:03 2019 +0000
- Parent:
- 69:bfefdfb04c29
- Commit message:
- FINAL VERSION: added many comments to code.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r bfefdfb04c29 -r c4a019e3830d main.cpp
--- 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