Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

test_main.cpp@27:91dc5174333a, 2016-11-03 (annotated)

Committer:
Jankoekenpan
Date:
Thu Nov 03 18:19:39 2016 +0000
Revision:
27:91dc5174333a
Parent:
23:dba0233303b6
Child:
29:1c5254b27851
this works somewhat

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jankoekenpan 15:5d2bce2abd41 1 #include "controller.h"
Jankoekenpan 15:5d2bce2abd41 2 #include "BiQuad.h"
Jankoekenpan 1:7d218e9d2111 3
Jankoekenpan 1:7d218e9d2111 4 // ====== Hardware stuff ======
Jankoekenpan 1:7d218e9d2111 5
Jankoekenpan 15:5d2bce2abd41 6 /* The robot controller */
Jankoekenpan 15:5d2bce2abd41 7 RobotController robotController;
Jankoekenpan 1:7d218e9d2111 8
Jankoekenpan 15:5d2bce2abd41 9 /* The EMG inputs */
Jankoekenpan 5:23c850380b86 10 AnalogIn emg1(A0);
Jankoekenpan 5:23c850380b86 11 AnalogIn emg2(A1);
Jankoekenpan 1:7d218e9d2111 12
Jankoekenpan 15:5d2bce2abd41 13 /* Used in calibration */
Jankoekenpan 15:5d2bce2abd41 14 DigitalIn calibrating(SW2);
Jankoekenpan 15:5d2bce2abd41 15 /* Used to start calibrating */
Jankoekenpan 15:5d2bce2abd41 16 InterruptIn calibrateButton(SW3);
Jankoekenpan 15:5d2bce2abd41 17
Jankoekenpan 15:5d2bce2abd41 18 /* LEDs
Jankoekenpan 15:5d2bce2abd41 19 RED FLICKERING --> Ready to calibrate (press button SW3 to start)
Jankoekenpan 15:5d2bce2abd41 20 GREEN FlICKERING --> Calibration success
Jankoekenpan 15:5d2bce2abd41 21 BLUE --> Busy calibrating
Jankoekenpan 15:5d2bce2abd41 22 */
Jankoekenpan 15:5d2bce2abd41 23 DigitalOut led_red(LED_RED);
Jankoekenpan 15:5d2bce2abd41 24 DigitalOut led_green(LED_GREEN);
Jankoekenpan 15:5d2bce2abd41 25 DigitalOut led_blue(LED_BLUE);
Jankoekenpan 15:5d2bce2abd41 26
Jankoekenpan 22:cda3e5ad89c0 27 /* ABORT! ABORT! */
Jankoekenpan 22:cda3e5ad89c0 28 InterruptIn killButton(D3);
Jankoekenpan 22:cda3e5ad89c0 29
Jankoekenpan 15:5d2bce2abd41 30 /*For debuggin purposes*/
Jankoekenpan 23:dba0233303b6 31 Serial pc(USBTX, USBRX);
Jankoekenpan 8:874fe459b10a 32
Jankoekenpan 8:874fe459b10a 33 //====== Constants =====
Jankoekenpan 1:7d218e9d2111 34
Jankoekenpan 11:57f0ab4d0e99 35 enum RobotCommand{NOTHING, UP, DOWN, FORWARD, BACKWARD};
Jankoekenpan 9:3193094ba3b2 36 enum ProgramState{CALIBRATING, UPDOWN, FORBACK};
Jankoekenpan 1:7d218e9d2111 37
Jankoekenpan 8:874fe459b10a 38 const float sampleFrequency = 500;
Jankoekenpan 8:874fe459b10a 39 const float sampleTime = 1.0f/sampleFrequency;
Jankoekenpan 8:874fe459b10a 40
Jankoekenpan 8:874fe459b10a 41
Jankoekenpan 1:7d218e9d2111 42 //====== Program Variables ======
Jankoekenpan 1:7d218e9d2111 43
Jankoekenpan 15:5d2bce2abd41 44 volatile ProgramState progState;
Jankoekenpan 15:5d2bce2abd41 45 volatile RobotCommand robotCommand;
Jankoekenpan 15:5d2bce2abd41 46
Jankoekenpan 15:5d2bce2abd41 47 /*The 'main' ticker which samples our emg signals at the control state*/
Jankoekenpan 15:5d2bce2abd41 48 Ticker ticker;
Jankoekenpan 15:5d2bce2abd41 49 /*The ticker used for calibration*/
Jankoekenpan 15:5d2bce2abd41 50 Ticker sampler;
Jankoekenpan 15:5d2bce2abd41 51
Jankoekenpan 15:5d2bce2abd41 52 const float sample_frequency = 500.0f; //Hz
Jankoekenpan 15:5d2bce2abd41 53 const float Ts = 1.0f / sample_frequency;
Jankoekenpan 15:5d2bce2abd41 54 volatile int count = 0; //how many signals have passed. resets at 50.
Jankoekenpan 15:5d2bce2abd41 55
Jankoekenpan 15:5d2bce2abd41 56 /*Function used to send data to the motor*/
Jankoekenpan 15:5d2bce2abd41 57 void (*motorFunc)(bool, bool);
Jankoekenpan 15:5d2bce2abd41 58
Jankoekenpan 15:5d2bce2abd41 59
Jankoekenpan 15:5d2bce2abd41 60
Jankoekenpan 15:5d2bce2abd41 61 /* EMG BiQuadChain 1 */
Jankoekenpan 15:5d2bce2abd41 62 BiQuadChain bqc1;
Jankoekenpan 15:5d2bce2abd41 63 //Notch iir filter.
Jankoekenpan 15:5d2bce2abd41 64 //Notch: 50 +- 2 Hz
Jankoekenpan 15:5d2bce2abd41 65 BiQuad bq1(9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
Jankoekenpan 15:5d2bce2abd41 66
Jankoekenpan 15:5d2bce2abd41 67
Jankoekenpan 15:5d2bce2abd41 68 /* EMG BiQuadChain 2 */
Jankoekenpan 15:5d2bce2abd41 69 BiQuadChain bqc2;
Jankoekenpan 15:5d2bce2abd41 70 //Notch iir filter.
Jankoekenpan 15:5d2bce2abd41 71 //Notch: 50 +- 2 Hz
Jankoekenpan 15:5d2bce2abd41 72 BiQuad bq2( 9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
Jankoekenpan 15:5d2bce2abd41 73
Jankoekenpan 15:5d2bce2abd41 74
Jankoekenpan 15:5d2bce2abd41 75 // Arrays used in the calibrationi phase
Jankoekenpan 15:5d2bce2abd41 76 // Values in these arrays contain samples that are already notched and rectified.
Jankoekenpan 15:5d2bce2abd41 77 const int calibrateNumEmgCache = 100;
Jankoekenpan 15:5d2bce2abd41 78 float calibrateEmgCache1[calibrateNumEmgCache]; //sorted from new to old;
Jankoekenpan 15:5d2bce2abd41 79 float calibrateEmgCache2[calibrateNumEmgCache]; //sorted from new to old;
Jankoekenpan 15:5d2bce2abd41 80
Jankoekenpan 15:5d2bce2abd41 81 // Arrays used to calculate the moving average
Jankoekenpan 15:5d2bce2abd41 82 // Values in these arrays contain samples that are already notched and rectified.
Jankoekenpan 15:5d2bce2abd41 83 const int numEmgCache = 50;
Jankoekenpan 15:5d2bce2abd41 84 float emgCache1[numEmgCache]; //sorted from new to old;
Jankoekenpan 15:5d2bce2abd41 85 float emgCache2[numEmgCache]; //sorted from new to old;
Jankoekenpan 15:5d2bce2abd41 86
Jankoekenpan 15:5d2bce2abd41 87
Jankoekenpan 15:5d2bce2abd41 88 // Thresholds for the decisioin. by default 0.2,
Jankoekenpan 15:5d2bce2abd41 89 // The values are changed during calibration.
Jankoekenpan 15:5d2bce2abd41 90 volatile float threshold1 = 0.2;
Jankoekenpan 15:5d2bce2abd41 91 volatile float threshold2 = 0.2;
Jankoekenpan 15:5d2bce2abd41 92
Jankoekenpan 15:5d2bce2abd41 93 // The last 50 signals that have been dititalised.
Jankoekenpan 15:5d2bce2abd41 94 // Only contains ones and zeros.
Jankoekenpan 15:5d2bce2abd41 95 int decided1[numEmgCache];
Jankoekenpan 15:5d2bce2abd41 96 int decided2[numEmgCache];
Jankoekenpan 1:7d218e9d2111 97
Jankoekenpan 8:874fe459b10a 98
Jankoekenpan 1:7d218e9d2111 99 //====== Functions ======
Jankoekenpan 1:7d218e9d2111 100
Jankoekenpan 15:5d2bce2abd41 101 // Helper Functions
Jankoekenpan 1:7d218e9d2111 102
Jankoekenpan 15:5d2bce2abd41 103 void resetLeds() {
Jankoekenpan 15:5d2bce2abd41 104 led_red = true;
Jankoekenpan 15:5d2bce2abd41 105 led_green = true;
Jankoekenpan 15:5d2bce2abd41 106 led_blue = true;
Jankoekenpan 15:5d2bce2abd41 107 }
Jankoekenpan 15:5d2bce2abd41 108
Jankoekenpan 15:5d2bce2abd41 109 // Rotates the array one position, replacing the first value with the new value
Jankoekenpan 15:5d2bce2abd41 110 void addFirst(float newValue, float array[], int size) {
Jankoekenpan 15:5d2bce2abd41 111 for (int i = size - 2; i >= 0; i--) {
Jankoekenpan 15:5d2bce2abd41 112 array[i+1] = array[i];
Jankoekenpan 15:5d2bce2abd41 113 }
Jankoekenpan 15:5d2bce2abd41 114 array[0] = newValue;
Jankoekenpan 15:5d2bce2abd41 115 }
Jankoekenpan 15:5d2bce2abd41 116
Jankoekenpan 15:5d2bce2abd41 117 // Rotates the array one position, replacing the first value with the new value
Jankoekenpan 15:5d2bce2abd41 118 void addFirst(int newValue, int array[], int size) {
Jankoekenpan 15:5d2bce2abd41 119 for (int i = size - 2; i >= 0; i--) {
Jankoekenpan 15:5d2bce2abd41 120 array[i+1] = array[i];
Jankoekenpan 15:5d2bce2abd41 121 }
Jankoekenpan 15:5d2bce2abd41 122 array[0] = newValue;
Jankoekenpan 15:5d2bce2abd41 123 }
Jankoekenpan 15:5d2bce2abd41 124
Jankoekenpan 15:5d2bce2abd41 125
Jankoekenpan 15:5d2bce2abd41 126 float sum(float array[], int size) {
Jankoekenpan 15:5d2bce2abd41 127 float sum = 0;
Jankoekenpan 15:5d2bce2abd41 128 for (int i = 0; i < size; i++) {
Jankoekenpan 15:5d2bce2abd41 129 sum += array[i];
Jankoekenpan 15:5d2bce2abd41 130 }
Jankoekenpan 15:5d2bce2abd41 131 return sum;
Jankoekenpan 15:5d2bce2abd41 132 }
Jankoekenpan 15:5d2bce2abd41 133
Jankoekenpan 15:5d2bce2abd41 134 float mean(float array[], int size) {
Jankoekenpan 15:5d2bce2abd41 135 return sum(array, size) / size;
Jankoekenpan 15:5d2bce2abd41 136 }
Jankoekenpan 15:5d2bce2abd41 137
Jankoekenpan 15:5d2bce2abd41 138 // 'Digitize' an analog value by comparing to a threshold
Jankoekenpan 15:5d2bce2abd41 139 int decide(float value, float threshold) {
Jankoekenpan 15:5d2bce2abd41 140 return value < threshold ? 0 : 1;
Jankoekenpan 15:5d2bce2abd41 141 }
Jankoekenpan 15:5d2bce2abd41 142
Jankoekenpan 15:5d2bce2abd41 143 //shifts the array by adding the new emg value up front.
Jankoekenpan 15:5d2bce2abd41 144 //returns the new calculated average
Jankoekenpan 15:5d2bce2abd41 145 float movingAverage(float newValue, float array[], int size) {
Jankoekenpan 15:5d2bce2abd41 146 float sum = 0;
Jankoekenpan 15:5d2bce2abd41 147 for (int i = size - 2; i >= 0; i--) {
Jankoekenpan 15:5d2bce2abd41 148 array[i+1] = array[i];
Jankoekenpan 15:5d2bce2abd41 149 sum += array[i];
Jankoekenpan 15:5d2bce2abd41 150 }
Jankoekenpan 15:5d2bce2abd41 151 array[0] = newValue;
Jankoekenpan 15:5d2bce2abd41 152 sum += newValue;
Jankoekenpan 15:5d2bce2abd41 153 return sum / size;
Jankoekenpan 15:5d2bce2abd41 154 }
Jankoekenpan 15:5d2bce2abd41 155
Jankoekenpan 15:5d2bce2abd41 156
Jankoekenpan 15:5d2bce2abd41 157 float rectifier(float value) {
Jankoekenpan 15:5d2bce2abd41 158 return fabs(value - 0.5f)*2.0f;
Jankoekenpan 1:7d218e9d2111 159 }
Jankoekenpan 1:7d218e9d2111 160
Jankoekenpan 15:5d2bce2abd41 161 void sendToMotor(void (*func)(bool, bool), bool arg1, bool arg2) {
Jankoekenpan 15:5d2bce2abd41 162 func(arg1, arg2);
Jankoekenpan 15:5d2bce2abd41 163 }
Jankoekenpan 15:5d2bce2abd41 164
Jankoekenpan 15:5d2bce2abd41 165
Jankoekenpan 15:5d2bce2abd41 166 // ====== Functions used for calibrations =====
Jankoekenpan 15:5d2bce2abd41 167
Jankoekenpan 15:5d2bce2abd41 168 void sample() {
Jankoekenpan 15:5d2bce2abd41 169 float emgOne = emg1.read();
Jankoekenpan 15:5d2bce2abd41 170 float notch1 = bqc1.step( emgOne );
Jankoekenpan 15:5d2bce2abd41 171
Jankoekenpan 15:5d2bce2abd41 172 float emgTwo = emg2.read();
Jankoekenpan 15:5d2bce2abd41 173 float notch2 = bqc2.step( emgTwo );
Jankoekenpan 15:5d2bce2abd41 174
Jankoekenpan 15:5d2bce2abd41 175 float rect1 = rectifier(notch1);
Jankoekenpan 15:5d2bce2abd41 176 float rect2 = rectifier(notch2);
Jankoekenpan 15:5d2bce2abd41 177
Jankoekenpan 15:5d2bce2abd41 178 float filtered1 = movingAverage( rect1, calibrateEmgCache1, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 179 float filtered2 = movingAverage( rect2, calibrateEmgCache2, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 180 }
Jankoekenpan 15:5d2bce2abd41 181
Jankoekenpan 15:5d2bce2abd41 182 void calibrate() {
Jankoekenpan 15:5d2bce2abd41 183 while(calibrating) {
Jankoekenpan 15:5d2bce2abd41 184 led_red = false;
Jankoekenpan 15:5d2bce2abd41 185 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 186 led_red = true;
Jankoekenpan 15:5d2bce2abd41 187 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 188 }
Jankoekenpan 15:5d2bce2abd41 189
Jankoekenpan 15:5d2bce2abd41 190 // Button pressed for rest measurement
Jankoekenpan 15:5d2bce2abd41 191 led_red = true;
Jankoekenpan 15:5d2bce2abd41 192 sampler.attach(&sample, Ts);
Jankoekenpan 15:5d2bce2abd41 193 led_blue = false;
Jankoekenpan 15:5d2bce2abd41 194 wait(10);
Jankoekenpan 15:5d2bce2abd41 195 // 10 seconds sampled
Jankoekenpan 15:5d2bce2abd41 196 led_blue = true;
Jankoekenpan 15:5d2bce2abd41 197 sampler.detach();
Jankoekenpan 15:5d2bce2abd41 198 float restAvg1 = mean(calibrateEmgCache1, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 199 float restAvg2 = mean(calibrateEmgCache2, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 200
Jankoekenpan 15:5d2bce2abd41 201 int i =0;
Jankoekenpan 15:5d2bce2abd41 202 while(i<3) {
Jankoekenpan 15:5d2bce2abd41 203 led_green = false;
Jankoekenpan 15:5d2bce2abd41 204 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 205 led_green = true;
Jankoekenpan 15:5d2bce2abd41 206 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 207 i++;
Jankoekenpan 15:5d2bce2abd41 208 }
Jankoekenpan 15:5d2bce2abd41 209 led_green = true;
Jankoekenpan 15:5d2bce2abd41 210
Jankoekenpan 15:5d2bce2abd41 211 while(calibrating) {
Jankoekenpan 15:5d2bce2abd41 212 led_red = false;
Jankoekenpan 15:5d2bce2abd41 213 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 214 led_red = true;
Jankoekenpan 15:5d2bce2abd41 215 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 216 }
Jankoekenpan 15:5d2bce2abd41 217 // Button pressed for contracted measurement
Jankoekenpan 15:5d2bce2abd41 218 led_red = true;
Jankoekenpan 15:5d2bce2abd41 219 sampler.attach(&sample, Ts);
Jankoekenpan 15:5d2bce2abd41 220 led_blue = false;
Jankoekenpan 15:5d2bce2abd41 221 wait(10);
Jankoekenpan 15:5d2bce2abd41 222
Jankoekenpan 15:5d2bce2abd41 223 // 10 seconds sampled
Jankoekenpan 15:5d2bce2abd41 224 led_blue = true;
Jankoekenpan 15:5d2bce2abd41 225 sampler.detach();
Jankoekenpan 15:5d2bce2abd41 226
Jankoekenpan 15:5d2bce2abd41 227 i =0;
Jankoekenpan 15:5d2bce2abd41 228 while(i<3) {
Jankoekenpan 15:5d2bce2abd41 229 led_green = false;
Jankoekenpan 15:5d2bce2abd41 230 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 231 led_green = true;
Jankoekenpan 15:5d2bce2abd41 232 wait(0.5);
Jankoekenpan 15:5d2bce2abd41 233 i++;
Jankoekenpan 15:5d2bce2abd41 234 }
Jankoekenpan 15:5d2bce2abd41 235
Jankoekenpan 15:5d2bce2abd41 236 float contAvg1 = mean(calibrateEmgCache1, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 237 float contAvg2 = mean(calibrateEmgCache2, calibrateNumEmgCache);
Jankoekenpan 15:5d2bce2abd41 238
Jankoekenpan 15:5d2bce2abd41 239 threshold1 = (contAvg1 + restAvg1)/2;
Jankoekenpan 15:5d2bce2abd41 240 threshold2 = (contAvg2 + restAvg2)/2;
Jankoekenpan 15:5d2bce2abd41 241 //pc.printf("threshold1: %f\tthreshold2:%f\n\r", threshold1, threshold2);
Jankoekenpan 9:3193094ba3b2 242
Jankoekenpan 9:3193094ba3b2 243 }
Jankoekenpan 9:3193094ba3b2 244
Jankoekenpan 15:5d2bce2abd41 245 // ===== The main functions called by our main ticker ======
Jankoekenpan 15:5d2bce2abd41 246
Jankoekenpan 15:5d2bce2abd41 247 void processEMG() {
Jankoekenpan 15:5d2bce2abd41 248 float emgOne = emg1.read();
Jankoekenpan 15:5d2bce2abd41 249 float emgTwo = emg2.read();
Jankoekenpan 15:5d2bce2abd41 250 float notch1 = bqc1.step( emgOne );
Jankoekenpan 15:5d2bce2abd41 251 float notch2 = bqc2.step( emgTwo );
Jankoekenpan 15:5d2bce2abd41 252
Jankoekenpan 15:5d2bce2abd41 253 float rect1 = rectifier(notch1);
Jankoekenpan 15:5d2bce2abd41 254 float rect2 = rectifier(notch2);
Jankoekenpan 15:5d2bce2abd41 255
Jankoekenpan 15:5d2bce2abd41 256 float filtered1 = movingAverage( rect1, emgCache1, numEmgCache);
Jankoekenpan 15:5d2bce2abd41 257 float filtered2 = movingAverage( rect2, emgCache2, numEmgCache);
Jankoekenpan 1:7d218e9d2111 258
Jankoekenpan 15:5d2bce2abd41 259 int decide1 = decide(mean(emgCache1, numEmgCache ), threshold1);
Jankoekenpan 15:5d2bce2abd41 260 int decide2 = decide(mean(emgCache2, numEmgCache ), threshold2);
Jankoekenpan 15:5d2bce2abd41 261 addFirst(decide1, decided1, numEmgCache);
Jankoekenpan 15:5d2bce2abd41 262 addFirst(decide2, decided2, numEmgCache);
Jankoekenpan 15:5d2bce2abd41 263
Jankoekenpan 15:5d2bce2abd41 264 if (count >= 49) {
Jankoekenpan 15:5d2bce2abd41 265 int counter1=0;
Jankoekenpan 15:5d2bce2abd41 266 int counter2=0;
Jankoekenpan 15:5d2bce2abd41 267 for(int i = 0; i < numEmgCache; ++i){
Jankoekenpan 15:5d2bce2abd41 268 if(decided1[i] == 0)
Jankoekenpan 15:5d2bce2abd41 269 ++counter1;
Jankoekenpan 15:5d2bce2abd41 270 if(decided2[i] == 0)
Jankoekenpan 15:5d2bce2abd41 271 ++counter2;
Jankoekenpan 15:5d2bce2abd41 272 }
Jankoekenpan 15:5d2bce2abd41 273 int avgDecide1 = counter1 > std::ceil(numEmgCache/2.0) ? 0: 1;
Jankoekenpan 15:5d2bce2abd41 274 int avgDecide2 = counter2 > std::ceil(numEmgCache/2.0) ? 0: 1;
Jankoekenpan 15:5d2bce2abd41 275 sendToMotor(motorFunc,avgDecide1, avgDecide2);
Jankoekenpan 15:5d2bce2abd41 276
Jankoekenpan 15:5d2bce2abd41 277 count =0;
Jankoekenpan 15:5d2bce2abd41 278 } else {
Jankoekenpan 15:5d2bce2abd41 279 count++;
Jankoekenpan 15:5d2bce2abd41 280 }
Jankoekenpan 15:5d2bce2abd41 281 }
Jankoekenpan 15:5d2bce2abd41 282
Jankoekenpan 20:66513b3c09b7 283 void getXandY(float &x, float &y) {
Jankoekenpan 20:66513b3c09b7 284 float lower = robotController.getLowerArmLength();
Jankoekenpan 20:66513b3c09b7 285 float upper = robotController.getUpperArmLength();
Jankoekenpan 20:66513b3c09b7 286 getRollerPositionForArmLengths(upper, lower, x, y);
Jankoekenpan 20:66513b3c09b7 287 }
Jankoekenpan 20:66513b3c09b7 288
Jankoekenpan 23:dba0233303b6 289 //wheter the user can still execute a command
Jankoekenpan 23:dba0233303b6 290 Timeout commandDelayer;
Jankoekenpan 23:dba0233303b6 291 volatile bool canCommand = true;
Jankoekenpan 23:dba0233303b6 292 void enableCommand() {
Jankoekenpan 23:dba0233303b6 293 canCommand = true;
Jankoekenpan 23:dba0233303b6 294 }
Jankoekenpan 23:dba0233303b6 295
Jankoekenpan 23:dba0233303b6 296 Timeout commandSequencer;
Jankoekenpan 23:dba0233303b6 297 void doPaintUp() {
Jankoekenpan 23:dba0233303b6 298 robotController.paintUp();
Jankoekenpan 23:dba0233303b6 299 }
Jankoekenpan 23:dba0233303b6 300 void doPaintDown() {
Jankoekenpan 23:dba0233303b6 301 robotController.paintDown();
Jankoekenpan 23:dba0233303b6 302 }
Jankoekenpan 20:66513b3c09b7 303
Jankoekenpan 27:91dc5174333a 304 float xmin = 25;
Jankoekenpan 27:91dc5174333a 305 float xmax = 40;
Jankoekenpan 27:91dc5174333a 306 float ymin = 20;
Jankoekenpan 27:91dc5174333a 307 float ymax = 50;
Jankoekenpan 27:91dc5174333a 308
Jankoekenpan 15:5d2bce2abd41 309 /* executes the robot command */
Jankoekenpan 15:5d2bce2abd41 310 void processCommand(RobotCommand cmd) {
Jankoekenpan 23:dba0233303b6 311 if (!canCommand || cmd == robotCommand) return;
Jankoekenpan 15:5d2bce2abd41 312
Jankoekenpan 15:5d2bce2abd41 313 robotCommand = cmd;
Jankoekenpan 15:5d2bce2abd41 314
Jankoekenpan 23:dba0233303b6 315 //user can only switch commands once every 2 seconds
Jankoekenpan 23:dba0233303b6 316 canCommand = false;
Jankoekenpan 23:dba0233303b6 317 commandDelayer.attach(&enableCommand, 2.0f);
Jankoekenpan 23:dba0233303b6 318
Jankoekenpan 15:5d2bce2abd41 319 switch (robotCommand) {
Jankoekenpan 20:66513b3c09b7 320 float x;
Jankoekenpan 20:66513b3c09b7 321 float y;
Jankoekenpan 15:5d2bce2abd41 322 case UP:
Jankoekenpan 23:dba0233303b6 323 robotController.goToBottom();
Jankoekenpan 23:dba0233303b6 324 commandSequencer.attach(&doPaintUp, 3.0f);
Jankoekenpan 15:5d2bce2abd41 325 break;
Jankoekenpan 15:5d2bce2abd41 326 case DOWN:
Jankoekenpan 23:dba0233303b6 327 robotController.goToTop();
Jankoekenpan 23:dba0233303b6 328 commandSequencer.attach(&doPaintDown, 3.0f);
Jankoekenpan 15:5d2bce2abd41 329 break;
Jankoekenpan 15:5d2bce2abd41 330 case FORWARD:
Jankoekenpan 20:66513b3c09b7 331 getXandY(x, y);
Jankoekenpan 27:91dc5174333a 332 robotController.moveTo(xmax, h + 0.5*d);
Jankoekenpan 15:5d2bce2abd41 333 break;
Jankoekenpan 15:5d2bce2abd41 334 case BACKWARD:
Jankoekenpan 20:66513b3c09b7 335 getXandY(x, y);
Jankoekenpan 27:91dc5174333a 336 robotController.moveTo(xmin, h + 0.5*d);
Jankoekenpan 15:5d2bce2abd41 337 break;
Jankoekenpan 15:5d2bce2abd41 338 case NOTHING:
Jankoekenpan 15:5d2bce2abd41 339
Jankoekenpan 15:5d2bce2abd41 340 break;
Jankoekenpan 15:5d2bce2abd41 341 }
Jankoekenpan 15:5d2bce2abd41 342 }
Jankoekenpan 15:5d2bce2abd41 343
Jankoekenpan 15:5d2bce2abd41 344 //some little utils used by the function below
Jankoekenpan 15:5d2bce2abd41 345 Timeout switchBlocker;
Jankoekenpan 15:5d2bce2abd41 346 volatile bool justSwitched;
Jankoekenpan 15:5d2bce2abd41 347 void unblockSwitch() {
Jankoekenpan 15:5d2bce2abd41 348 justSwitched = false;
Jankoekenpan 15:5d2bce2abd41 349 }
Jankoekenpan 15:5d2bce2abd41 350
Jankoekenpan 15:5d2bce2abd41 351 //tries to switch the state.
Jankoekenpan 15:5d2bce2abd41 352 //returns true if it was successfull
Jankoekenpan 15:5d2bce2abd41 353 //or false if we couldn't switch.
Jankoekenpan 15:5d2bce2abd41 354 bool switchState() {
Jankoekenpan 15:5d2bce2abd41 355 if (justSwitched) return false;
Jankoekenpan 15:5d2bce2abd41 356 justSwitched = true;
Jankoekenpan 15:5d2bce2abd41 357 switch(progState) {
Jankoekenpan 15:5d2bce2abd41 358 case UPDOWN:
Jankoekenpan 15:5d2bce2abd41 359 progState = FORBACK;
Jankoekenpan 15:5d2bce2abd41 360 break;
Jankoekenpan 15:5d2bce2abd41 361 case FORBACK:
Jankoekenpan 15:5d2bce2abd41 362 progState = UPDOWN;
Jankoekenpan 27:91dc5174333a 363 break;
Jankoekenpan 15:5d2bce2abd41 364 }
Jankoekenpan 27:91dc5174333a 365 pc.printf("\r\n\n\n1 and 1, switch state to %s.\r\n\n\n", progState == UPDOWN ? "UPDOWN" : "FORBACK");
Jankoekenpan 15:5d2bce2abd41 366 //we can only switch once per 2 seconds
Jankoekenpan 15:5d2bce2abd41 367 switchBlocker.attach(&unblockSwitch, 2.0f);
Jankoekenpan 15:5d2bce2abd41 368 return true;
Jankoekenpan 15:5d2bce2abd41 369 }
Jankoekenpan 15:5d2bce2abd41 370
Jankoekenpan 15:5d2bce2abd41 371 /* Translates our two digital signals to robot commands */
Jankoekenpan 15:5d2bce2abd41 372 void onSignal(bool emg1, bool emg2) {
Jankoekenpan 15:5d2bce2abd41 373 RobotCommand command = NOTHING;
Jankoekenpan 15:5d2bce2abd41 374 if (emg1 && emg2) {
Jankoekenpan 15:5d2bce2abd41 375 switchState();
Jankoekenpan 15:5d2bce2abd41 376 processCommand(command);
Jankoekenpan 15:5d2bce2abd41 377 return;
Jankoekenpan 15:5d2bce2abd41 378 }
Jankoekenpan 15:5d2bce2abd41 379 switch(progState) {
Jankoekenpan 15:5d2bce2abd41 380 case UPDOWN:
Jankoekenpan 15:5d2bce2abd41 381 if (emg1) {
Jankoekenpan 15:5d2bce2abd41 382 command = UP;
Jankoekenpan 27:91dc5174333a 383 pc.printf("1 and 0, command = UP\r\n");
Jankoekenpan 15:5d2bce2abd41 384 } else if (emg2) {
Jankoekenpan 15:5d2bce2abd41 385 command = DOWN;
Jankoekenpan 27:91dc5174333a 386 pc.printf("0 and 1, command = DOWN\r\n");
Jankoekenpan 15:5d2bce2abd41 387 }
Jankoekenpan 15:5d2bce2abd41 388 break;
Jankoekenpan 15:5d2bce2abd41 389 case FORBACK:
Jankoekenpan 15:5d2bce2abd41 390 if (emg1) {
Jankoekenpan 15:5d2bce2abd41 391 command = FORWARD;
Jankoekenpan 27:91dc5174333a 392 pc.printf("1 and 0, command = FORWARD\r\n");
Jankoekenpan 15:5d2bce2abd41 393 } else if (emg2) {
Jankoekenpan 15:5d2bce2abd41 394 command = BACKWARD;
Jankoekenpan 27:91dc5174333a 395 pc.printf("0 and 1, command = BACKWARD\r\n");
Jankoekenpan 15:5d2bce2abd41 396 }
Jankoekenpan 15:5d2bce2abd41 397 break;
Jankoekenpan 15:5d2bce2abd41 398 }
Jankoekenpan 15:5d2bce2abd41 399
Jankoekenpan 27:91dc5174333a 400 if (!emg1 && !emg2) {
Jankoekenpan 27:91dc5174333a 401 pc.printf("0 and 0\r\n");
Jankoekenpan 27:91dc5174333a 402 }
Jankoekenpan 27:91dc5174333a 403
Jankoekenpan 15:5d2bce2abd41 404 //execute the command
Jankoekenpan 15:5d2bce2abd41 405 processCommand(command);
Jankoekenpan 15:5d2bce2abd41 406 }
Jankoekenpan 15:5d2bce2abd41 407
Jankoekenpan 15:5d2bce2abd41 408 void consumeBools(bool x, bool y) {
Jankoekenpan 15:5d2bce2abd41 409 onSignal(x, y);
Jankoekenpan 15:5d2bce2abd41 410 }
Jankoekenpan 15:5d2bce2abd41 411
Jankoekenpan 15:5d2bce2abd41 412
Jankoekenpan 15:5d2bce2abd41 413 // ====== The entry point of our programme ======
Jankoekenpan 15:5d2bce2abd41 414
Jankoekenpan 22:cda3e5ad89c0 415
Jankoekenpan 21:2aed81380bc3 416 int main() //TODO this will become the actual main!
Jankoekenpan 15:5d2bce2abd41 417 {
Jankoekenpan 23:dba0233303b6 418 pc.baud(115200);
Jankoekenpan 22:cda3e5ad89c0 419 killButton.fall(robotController.getRobot(), &Robot::kill);
Jankoekenpan 15:5d2bce2abd41 420
Jankoekenpan 15:5d2bce2abd41 421 // initial state
Jankoekenpan 15:5d2bce2abd41 422 resetLeds();
Jankoekenpan 15:5d2bce2abd41 423 progState = CALIBRATING;
Jankoekenpan 15:5d2bce2abd41 424 robotCommand = NOTHING;
Jankoekenpan 15:5d2bce2abd41 425
Jankoekenpan 15:5d2bce2abd41 426 // initialize notch filters
Jankoekenpan 15:5d2bce2abd41 427 bqc1.add( &bq1 );
Jankoekenpan 15:5d2bce2abd41 428 bqc2.add( &bq2 );
Jankoekenpan 15:5d2bce2abd41 429
Jankoekenpan 15:5d2bce2abd41 430 // Attach cablitrate function to the button to be able to calibrate again
Jankoekenpan 15:5d2bce2abd41 431 // If the user desires so
Jankoekenpan 15:5d2bce2abd41 432 calibrateButton.fall(&calibrate);
Jankoekenpan 15:5d2bce2abd41 433
Jankoekenpan 15:5d2bce2abd41 434 // The function that takes our ditised signals and controls the robot
Jankoekenpan 15:5d2bce2abd41 435 motorFunc = &consumeBools;
Jankoekenpan 15:5d2bce2abd41 436
Jankoekenpan 15:5d2bce2abd41 437
Jankoekenpan 15:5d2bce2abd41 438 // call the calibrating function once at the start
Jankoekenpan 15:5d2bce2abd41 439 // this function blocks until the calibration phase is over
Jankoekenpan 15:5d2bce2abd41 440 calibrate();
Jankoekenpan 15:5d2bce2abd41 441
Jankoekenpan 15:5d2bce2abd41 442 // After calibration the program state is UPDOWN
Jankoekenpan 15:5d2bce2abd41 443 progState = UPDOWN;
Jankoekenpan 15:5d2bce2abd41 444
Jankoekenpan 15:5d2bce2abd41 445
Jankoekenpan 15:5d2bce2abd41 446 // 500 HZ Ticker
Jankoekenpan 15:5d2bce2abd41 447 ticker.attach(&processEMG, Ts);
Jankoekenpan 15:5d2bce2abd41 448
Jankoekenpan 15:5d2bce2abd41 449 while (true);
Jankoekenpan 21:2aed81380bc3 450 }