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Dependencies:   EMG HIDScope PID QEI mbed TextLCD

main.cpp@3:70f78cfc0f25, 2015-10-14 (annotated)

Committer:
ewoud
Date:
Wed Oct 14 13:16:35 2015 +0000
Revision:
3:70f78cfc0f25
Parent:
1:dafb63606b66
Child:
4:680f775a3703
fixed callibrate, included stepping

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ewoud 0:ca94aa9bf823 1 //****************************************************************************/
ewoud 0:ca94aa9bf823 2 // Includes
ewoud 0:ca94aa9bf823 3 #include "mbed.h"
ewoud 0:ca94aa9bf823 4 #include "PID.h"
ewoud 0:ca94aa9bf823 5 #include "QEI.h"
ewoud 0:ca94aa9bf823 6 #include "HIDScope.h"
ewoud 0:ca94aa9bf823 7 #include "biquadFilter.h"
ewoud 0:ca94aa9bf823 8 #include "inits.h" // all globals, pin and variable initialization
ewoud 0:ca94aa9bf823 9 #include "EMG.h"
ewoud 0:ca94aa9bf823 10
ewoud 0:ca94aa9bf823 11 void setGoFlag(){
ewoud 0:ca94aa9bf823 12 if (goFlag==true){
ewoud 0:ca94aa9bf823 13 //pc.printf("rate too high, error in setGoFlag \n\r");
ewoud 0:ca94aa9bf823 14 // flag is already set true: code too slow or frequency too high
ewoud 0:ca94aa9bf823 15 }
ewoud 0:ca94aa9bf823 16 goFlag=true;
ewoud 0:ca94aa9bf823 17 }
ewoud 0:ca94aa9bf823 18
ewoud 0:ca94aa9bf823 19 void systemStart(){
ewoud 0:ca94aa9bf823 20 systemOn=true;
ewoud 0:ca94aa9bf823 21 }
ewoud 0:ca94aa9bf823 22 void systemStop(){
ewoud 0:ca94aa9bf823 23 systemOn=false;
ewoud 0:ca94aa9bf823 24 pc.printf("system stopped\n\r");
ewoud 0:ca94aa9bf823 25 }
ewoud 1:dafb63606b66 26
ewoud 0:ca94aa9bf823 27 int main() {
ewoud 0:ca94aa9bf823 28
ewoud 0:ca94aa9bf823 29 // initialize (defined in inits.h)
ewoud 0:ca94aa9bf823 30 initMotors();
ewoud 0:ca94aa9bf823 31 initPIDs();
ewoud 0:ca94aa9bf823 32
ewoud 0:ca94aa9bf823 33 outofboundsled=1;
ewoud 0:ca94aa9bf823 34 edgeleft.mode(PullUp);
ewoud 0:ca94aa9bf823 35 edgeright.mode(PullUp);
ewoud 1:dafb63606b66 36
ewoud 1:dafb63606b66 37 // interrupts
ewoud 0:ca94aa9bf823 38 motorControlTicker.attach(&setGoFlag, RATE);
ewoud 3:70f78cfc0f25 39 cali_button.rise(&calibratego);
ewoud 0:ca94aa9bf823 40 startButton.rise(&systemStart);
ewoud 0:ca94aa9bf823 41 stopButton.rise(&systemStop);
ewoud 0:ca94aa9bf823 42
ewoud 0:ca94aa9bf823 43 while (true){
ewoud 3:70f78cfc0f25 44 if (calibrate_go==true){
ewoud 3:70f78cfc0f25 45 calibrate();
ewoud 3:70f78cfc0f25 46
ewoud 3:70f78cfc0f25 47
ewoud 3:70f78cfc0f25 48 }
ewoud 0:ca94aa9bf823 49 if (goFlag==true && systemOn==true){
ewoud 0:ca94aa9bf823 50 /*********** Contents *************/
ewoud 0:ca94aa9bf823 51 // 1) get emg signal
ewoud 0:ca94aa9bf823 52 // 2) calculate desired angle velocities
ewoud 0:ca94aa9bf823 53 // 3) calculate current angle velocities
ewoud 1:dafb63606b66 54 // 4) pid controller output
ewoud 0:ca94aa9bf823 55 // 5) user output
ewoud 0:ca94aa9bf823 56
ewoud 1:dafb63606b66 57 // **************
ewoud 0:ca94aa9bf823 58 // get emg signal
ewoud 0:ca94aa9bf823 59 sample_filter();
ewoud 0:ca94aa9bf823 60
ewoud 1:dafb63606b66 61 // determine if forward or backward signal is stronger
ewoud 3:70f78cfc0f25 62 if (y1 > y2){
ewoud 3:70f78cfc0f25 63 horrequest = y1;
ewoud 3:70f78cfc0f25 64 }
ewoud 3:70f78cfc0f25 65 else {
ewoud 3:70f78cfc0f25 66 horrequest = -y2;
ewoud 3:70f78cfc0f25 67 }
ewoud 3:70f78cfc0f25 68 if (y3 > y4){
ewoud 3:70f78cfc0f25 69 verrequest = y3;
ewoud 0:ca94aa9bf823 70 }
ewoud 0:ca94aa9bf823 71 else {
ewoud 3:70f78cfc0f25 72 verrequest = -y4;
ewoud 0:ca94aa9bf823 73 }
ewoud 3:70f78cfc0f25 74
ewoud 3:70f78cfc0f25 75 // perform stepping between boundries
ewoud 3:70f78cfc0f25 76 if(horrequest < -grenshoog){horrequest=-1;} else if(horrequest>=-grenshoog and horrequest<-grenslaag){y1=-0.5;}
ewoud 3:70f78cfc0f25 77 if(horrequest > grenshoog){horrequest=1; } else if(horrequest>= grenslaag and horrequest<grenshoog){y1=0.5;}
ewoud 3:70f78cfc0f25 78 else {horrequest=0;}
ewoud 3:70f78cfc0f25 79
ewoud 3:70f78cfc0f25 80 if(verrequest < -grenshoog){verrequest=-1;} else if(verrequest>=-grenshoog and verrequest<-grenslaag){y1=-0.5;}
ewoud 3:70f78cfc0f25 81 if(verrequest > grenshoog){verrequest=1; } else if(verrequest>= grenslaag and verrequest<grenshoog){y1=0.5;}
ewoud 3:70f78cfc0f25 82 else {verrequest=0;}
ewoud 3:70f78cfc0f25 83
ewoud 3:70f78cfc0f25 84 horrequest=horrequest*maxspeed; // turn [-1, 1] into [-max cm/s, max cm/s]
ewoud 3:70f78cfc0f25 85 verrequest=verrequest*maxspeed;
ewoud 3:70f78cfc0f25 86
ewoud 1:dafb63606b66 87
ewoud 1:dafb63606b66 88 // ***************
ewoud 0:ca94aa9bf823 89 // calculate required rotational velocity from the requested horizontal velocity
ewoud 1:dafb63606b66 90 // first get the current position from the motor encoders and make them start at 45 degree.
ewoud 1:dafb63606b66 91 leftAngle=(leftQei.getPulses()/round)*360+45;
ewoud 0:ca94aa9bf823 92 rightAngle=(rightQei.getPulses()/round)*360+45;
ewoud 0:ca94aa9bf823 93
ewoud 1:dafb63606b66 94 // trigonometry to get xy position from angles (cm)
ewoud 0:ca94aa9bf823 95 currentX = (tan(rightAngle*M_PI/180)*l)/(tan(leftAngle*M_PI/180)+tan(rightAngle*M_PI/180));
ewoud 0:ca94aa9bf823 96 currentY = tan(leftAngle*M_PI/180)*currentX;
ewoud 0:ca94aa9bf823 97
ewoud 0:ca94aa9bf823 98 // restrict motion if edges are touched
ewoud 0:ca94aa9bf823 99 if (edgeleft==0){
ewoud 3:70f78cfc0f25 100 if (horrequest < 0){horrequest=0; pc.printf("hit left edge \n\r");}
ewoud 0:ca94aa9bf823 101 }
ewoud 0:ca94aa9bf823 102 if (edgeright==0){
ewoud 3:70f78cfc0f25 103 if (horrequest > 0){horrequest=0; pc.printf("hit right edge \n\r");}
ewoud 3:70f78cfc0f25 104 }
ewoud 3:70f78cfc0f25 105 if (edgetop==0){
ewoud 3:70f78cfc0f25 106 if (verrequest > 0){verrequest=0; pc.printf("hit top edge \n\r");}
ewoud 3:70f78cfc0f25 107 }
ewoud 3:70f78cfc0f25 108 if (edgebottom==0){
ewoud 3:70f78cfc0f25 109 if (verrequest > 0){verrequest=0; pc.printf("hit bottom edge \n\r");}
ewoud 0:ca94aa9bf823 110 }
ewoud 0:ca94aa9bf823 111
ewoud 1:dafb63606b66 112 // calculate the position to go to according the the current position + the distance that should be covered in this timestep (cm)
ewoud 3:70f78cfc0f25 113 toX=currentX+horrequest*RATE;
ewoud 3:70f78cfc0f25 114 toY=currentY+verrequest*RATE; // should be vertical request*RATE
ewoud 0:ca94aa9bf823 115
ewoud 1:dafb63606b66 116 // trigonometry to get angles from xy new position (degree)
ewoud 0:ca94aa9bf823 117 toLeftAngle = atan(toY/toX)*180/M_PI;
ewoud 0:ca94aa9bf823 118 toRightAngle = atan(toY/(l-toX))*180/M_PI;
ewoud 0:ca94aa9bf823 119
ewoud 0:ca94aa9bf823 120 // restrict motion if angles out-of-bound
ewoud 0:ca94aa9bf823 121 if (toLeftAngle < 0){toLeftAngle=0; pc.printf("out of bounds \n\r");}
ewoud 0:ca94aa9bf823 122 if (toLeftAngle > 90){toLeftAngle=90; pc.printf("out of bounds \n\r");}
ewoud 0:ca94aa9bf823 123 if (toRightAngle < 0){toRightAngle=0; pc.printf("out of bounds \n\r");}
ewoud 0:ca94aa9bf823 124 if (toRightAngle > 90){toRightAngle=90; pc.printf("out of bounds \n\r");}
ewoud 0:ca94aa9bf823 125
ewoud 1:dafb63606b66 126 // restrict motion if position is out of reach of the arms
ewoud 0:ca94aa9bf823 127 //if (sqrt(pow(currentX,2)+pow(currentY,2)) > armlength){ // too far from left arm
ewoud 0:ca94aa9bf823 128 //return 0;
ewoud 0:ca94aa9bf823 129 //}
ewoud 0:ca94aa9bf823 130 //if (sqrt(pow(l-currentX,2)+pow(currentY,2)) > armlength){ // too far from right arm
ewoud 0:ca94aa9bf823 131 //return 0;
ewoud 0:ca94aa9bf823 132 //}
ewoud 0:ca94aa9bf823 133
ewoud 1:dafb63606b66 134 // calculate the neccesairy velocities to make these angles happen (degree/sec)
ewoud 1:dafb63606b66 135 leftRequest=(toLeftAngle-leftAngle)/RATE;
ewoud 1:dafb63606b66 136 rightRequest=(toRightAngle-rightAngle)/RATE;
ewoud 0:ca94aa9bf823 137
ewoud 0:ca94aa9bf823 138 // set the setpoint to the pid controller
ewoud 0:ca94aa9bf823 139 leftController.setSetPoint(leftRequest);
ewoud 0:ca94aa9bf823 140 rightController.setSetPoint(rightRequest);
ewoud 0:ca94aa9bf823 141
ewoud 1:dafb63606b66 142 // **************
ewoud 0:ca94aa9bf823 143 // Velocity calculation
ewoud 1:dafb63606b66 144 // left, differentiate from encoders
ewoud 1:dafb63606b66 145 leftPulses = leftQei.getPulses()/round*360; // (degree)
ewoud 1:dafb63606b66 146 leftVelocity = ((float)(leftPulses - leftPrevPulses))/ RATE; // (degree/sec)
ewoud 0:ca94aa9bf823 147 leftPrevPulses = leftPulses;
ewoud 1:dafb63606b66 148 leftController.setProcessValue(leftVelocity); // set PID process value
ewoud 0:ca94aa9bf823 149
ewoud 0:ca94aa9bf823 150 // right
ewoud 1:dafb63606b66 151 rightPulses = rightQei.getPulses()/round*360; // (degree)
ewoud 1:dafb63606b66 152 rightVelocity = ((float)(rightPulses - rightPrevPulses))/ RATE; // (degree/sec)
ewoud 0:ca94aa9bf823 153 rightPrevPulses = rightPulses;
ewoud 1:dafb63606b66 154 rightController.setProcessValue(rightVelocity); // set PID process value
ewoud 0:ca94aa9bf823 155
ewoud 0:ca94aa9bf823 156
ewoud 1:dafb63606b66 157 // **************
ewoud 0:ca94aa9bf823 158 // PID control output
ewoud 0:ca94aa9bf823 159 // left
ewoud 0:ca94aa9bf823 160
ewoud 0:ca94aa9bf823 161 leftPwmDuty = leftController.compute();
ewoud 1:dafb63606b66 162 if (leftPwmDuty < 0){ // put motor in reverse when we have a negative value
ewoud 0:ca94aa9bf823 163 leftDirection = 0;
ewoud 0:ca94aa9bf823 164 leftMotor = -leftPwmDuty;
ewoud 0:ca94aa9bf823 165 }
ewoud 0:ca94aa9bf823 166 else {
ewoud 0:ca94aa9bf823 167 leftDirection = 1;
ewoud 0:ca94aa9bf823 168 leftMotor = leftPwmDuty;
ewoud 0:ca94aa9bf823 169 }
ewoud 0:ca94aa9bf823 170
ewoud 0:ca94aa9bf823 171 // right
ewoud 0:ca94aa9bf823 172 rightPwmDuty = rightController.compute();
ewoud 1:dafb63606b66 173 if (rightPwmDuty < 0){ // put motor in reverse when we have a negative value
ewoud 0:ca94aa9bf823 174 rightDirection = 1;
ewoud 0:ca94aa9bf823 175 rightMotor = -rightPwmDuty;
ewoud 0:ca94aa9bf823 176 }
ewoud 0:ca94aa9bf823 177 else {
ewoud 0:ca94aa9bf823 178 rightDirection = 0;
ewoud 0:ca94aa9bf823 179 rightMotor = rightPwmDuty;
ewoud 0:ca94aa9bf823 180 }
ewoud 0:ca94aa9bf823 181
ewoud 1:dafb63606b66 182 // ***************
ewoud 0:ca94aa9bf823 183 // User feedback
ewoud 3:70f78cfc0f25 184 scope.set(0, horrequest);
ewoud 0:ca94aa9bf823 185 scope.set(1, leftPwmDuty);
ewoud 0:ca94aa9bf823 186 scope.set(2, leftVelocity);
ewoud 0:ca94aa9bf823 187 scope.set(3, currentX);
ewoud 0:ca94aa9bf823 188 scope.set(4, currentY);
ewoud 0:ca94aa9bf823 189 scope.send();
ewoud 1:dafb63606b66 190
ewoud 0:ca94aa9bf823 191 goFlag=false;
ewoud 0:ca94aa9bf823 192 }
ewoud 0:ca94aa9bf823 193 if(systemOn==false)
ewoud 0:ca94aa9bf823 194 {
ewoud 0:ca94aa9bf823 195 leftMotor=0;
ewoud 0:ca94aa9bf823 196 rightMotor=0;
ewoud 0:ca94aa9bf823 197 }
ewoud 0:ca94aa9bf823 198 }
ewoud 0:ca94aa9bf823 199
ewoud 0:ca94aa9bf823 200 }