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Dependencies:   EMG HIDScope PID QEI mbed TextLCD

inits.h@8:b0971033dc41, 2015-10-26 (annotated)

Committer:
ewoud
Date:
Mon Oct 26 11:15:31 2015 +0000
Revision:
8:b0971033dc41
Parent:
6:ae2ce89dd695
Child:
9:3e19a344c025
working a bit stuttery

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ewoud 3:70f78cfc0f25 1
ewoud 2:8f9b6c1e89cf 2 #define RATE 0.005f
ewoud 0:ca94aa9bf823 3 #define Kc 0.30
ewoud 0:ca94aa9bf823 4 #define Ti 0.00
ewoud 0:ca94aa9bf823 5 #define Td 0.0
ewoud 0:ca94aa9bf823 6
ewoud 3:70f78cfc0f25 7 ///////////////////////
ewoud 3:70f78cfc0f25 8 /// pin layout ////////
ewoud 3:70f78cfc0f25 9 ///////////////////////
ewoud 3:70f78cfc0f25 10
ewoud 0:ca94aa9bf823 11 Serial pc(USBTX, USBRX);
ewoud 8:b0971033dc41 12 TextLCD lcd(D9, D14, D15, PTB19, PTB18, A4); // rs, e, d4 to d7
ewoud 3:70f78cfc0f25 13
ewoud 8:b0971033dc41 14 // Left motor. (motor connection 1)
ewoud 8:b0971033dc41 15 PwmOut leftMotor(D5);
ewoud 0:ca94aa9bf823 16 DigitalOut leftDirection(D4);
ewoud 0:ca94aa9bf823 17 QEI leftQei(D12, D13, NC, 624);
ewoud 0:ca94aa9bf823 18 PID leftController(Kc, Ti, Td, RATE);
ewoud 0:ca94aa9bf823 19
ewoud 8:b0971033dc41 20 // Right motor (motor connection 2)
ewoud 0:ca94aa9bf823 21 PwmOut rightMotor(D6);
ewoud 0:ca94aa9bf823 22 DigitalOut rightDirection(D7);
ewoud 0:ca94aa9bf823 23 QEI rightQei(D11, D10, NC, 624);
ewoud 0:ca94aa9bf823 24 PID rightController(Kc, Ti, Td, RATE);
ewoud 0:ca94aa9bf823 25
ewoud 0:ca94aa9bf823 26 // edge leads
ewoud 3:70f78cfc0f25 27 DigitalIn edgeleft(PTC5);
ewoud 3:70f78cfc0f25 28 DigitalIn edgeright(PTC7);
ewoud 3:70f78cfc0f25 29 DigitalIn edgetop(PTC0);
ewoud 3:70f78cfc0f25 30 DigitalIn edgebottom(PTC9);
ewoud 0:ca94aa9bf823 31
ewoud 3:70f78cfc0f25 32 // emg input
ewoud 0:ca94aa9bf823 33 AnalogIn pot1(A0);
ewoud 0:ca94aa9bf823 34 AnalogIn pot2(A1);
ewoud 3:70f78cfc0f25 35
ewoud 3:70f78cfc0f25 36 // user interface
ewoud 3:70f78cfc0f25 37 DigitalOut outofboundsled(LED1);
ewoud 3:70f78cfc0f25 38 InterruptIn startButton(D3);
ewoud 3:70f78cfc0f25 39 InterruptIn stopButton(D2);
ewoud 6:ae2ce89dd695 40 InterruptIn initpositionButton(PTC6);
ewoud 3:70f78cfc0f25 41 HIDScope scope(5);
ewoud 3:70f78cfc0f25 42
ewoud 3:70f78cfc0f25 43 ////////////////////////////
ewoud 3:70f78cfc0f25 44 //////// Timers ////////////
ewoud 3:70f78cfc0f25 45 ////////////////////////////
ewoud 3:70f78cfc0f25 46 Ticker scopeTimer;
ewoud 0:ca94aa9bf823 47 Timer endTimer;
ewoud 0:ca94aa9bf823 48 Ticker motorControlTicker;
ewoud 0:ca94aa9bf823 49 bool goFlag=false;
ewoud 0:ca94aa9bf823 50 bool systemOn=false;
ewoud 6:ae2ce89dd695 51 bool initposition_go=false;
ewoud 3:70f78cfc0f25 52
ewoud 3:70f78cfc0f25 53
ewoud 3:70f78cfc0f25 54 ////////////////////////////
ewoud 3:70f78cfc0f25 55 ///////// Variables ////////
ewoud 3:70f78cfc0f25 56 ////////////////////////////
ewoud 3:70f78cfc0f25 57
ewoud 3:70f78cfc0f25 58
ewoud 3:70f78cfc0f25 59 // Working variables for motors
ewoud 0:ca94aa9bf823 60 volatile int leftPulses = 0;
ewoud 0:ca94aa9bf823 61 volatile float leftAngle=0;
ewoud 0:ca94aa9bf823 62 volatile int leftPrevPulses = 0;
ewoud 0:ca94aa9bf823 63 volatile float leftPwmDuty = 0.0;
ewoud 0:ca94aa9bf823 64 volatile float leftVelocity = 0.0;
ewoud 0:ca94aa9bf823 65 float leftRequest=0;
ewoud 0:ca94aa9bf823 66
ewoud 0:ca94aa9bf823 67 volatile int rightPulses = 0;
ewoud 0:ca94aa9bf823 68 volatile int rightPrevPulses = 0;
ewoud 0:ca94aa9bf823 69 volatile float rightAngle =0;
ewoud 0:ca94aa9bf823 70 volatile float rightPwmDuty = 0.0;
ewoud 0:ca94aa9bf823 71 volatile float rightVelocity = 0.0;
ewoud 0:ca94aa9bf823 72 float rightRequest=0;
ewoud 0:ca94aa9bf823 73
ewoud 3:70f78cfc0f25 74 // working vars for calculation
ewoud 3:70f78cfc0f25 75 float horrequest;
ewoud 3:70f78cfc0f25 76 float verrequest;
ewoud 3:70f78cfc0f25 77 float grenslaag=0.3;
ewoud 3:70f78cfc0f25 78 float grenshoog=0.7;
ewoud 0:ca94aa9bf823 79 float round=27720;
ewoud 8:b0971033dc41 80 float maxspeed=0.5; //cm/sec
ewoud 0:ca94aa9bf823 81 float currentX;
ewoud 0:ca94aa9bf823 82 float currentY;
ewoud 8:b0971033dc41 83 float l=57;
ewoud 0:ca94aa9bf823 84 float toX;
ewoud 0:ca94aa9bf823 85 float toY;
ewoud 0:ca94aa9bf823 86 float toLeftAngle;
ewoud 0:ca94aa9bf823 87 float toRightAngle;
ewoud 0:ca94aa9bf823 88 float M_PI=3.14159265359;
ewoud 0:ca94aa9bf823 89
ewoud 3:70f78cfc0f25 90 //////////////////////////////////
ewoud 3:70f78cfc0f25 91 ////// initialize functions //////
ewoud 3:70f78cfc0f25 92 //////////////////////////////////
ewoud 0:ca94aa9bf823 93
ewoud 0:ca94aa9bf823 94 void initMotors(){
ewoud 0:ca94aa9bf823 95 //Initialization of motor
ewoud 0:ca94aa9bf823 96 leftMotor.period_us(50);
ewoud 0:ca94aa9bf823 97 leftMotor = 0.0;
ewoud 0:ca94aa9bf823 98 leftDirection = 1;
ewoud 0:ca94aa9bf823 99
ewoud 0:ca94aa9bf823 100 rightMotor.period_us(50);
ewoud 0:ca94aa9bf823 101 rightMotor = 0.0;
ewoud 0:ca94aa9bf823 102 rightDirection = 1;
ewoud 0:ca94aa9bf823 103
ewoud 0:ca94aa9bf823 104 }
ewoud 0:ca94aa9bf823 105
ewoud 0:ca94aa9bf823 106 void initPIDs(){
ewoud 0:ca94aa9bf823 107 //Initialization of PID controller
ewoud 3:70f78cfc0f25 108 leftController.setInputLimits(-90.0, 90.0);
ewoud 0:ca94aa9bf823 109 leftController.setOutputLimits(-1.0, 1.0);
ewoud 0:ca94aa9bf823 110 leftController.setBias(0);
ewoud 0:ca94aa9bf823 111 leftController.setDeadzone(-0.4, 0.4);
ewoud 0:ca94aa9bf823 112 leftController.setMode(AUTO_MODE);
ewoud 0:ca94aa9bf823 113
ewoud 3:70f78cfc0f25 114 rightController.setInputLimits(-90.0, 90.0);
ewoud 0:ca94aa9bf823 115 rightController.setOutputLimits(-1.0, 1.0);
ewoud 0:ca94aa9bf823 116 rightController.setBias(0);
ewoud 0:ca94aa9bf823 117 rightController.setDeadzone(-0.4, 0.4);
ewoud 0:ca94aa9bf823 118 rightController.setMode(AUTO_MODE);
ewoud 0:ca94aa9bf823 119 }