Projectgroep 20 Biorobotics / Mbed 2 deprecated StateMachinemooi

State Machine, bezig met mooimaken

Dependencies:   Encoder HIDScope MODSERIAL biquadFilter mbed

Fork of vanEMGnaarMOTORPauline_States_nacht by Projectgroep 20 Biorobotics

main.cpp@9:285499f48cdd, 2017-11-01 (annotated)

Committer:
paulineoonk
Date:
Wed Nov 01 13:03:26 2017 +0000
Revision:
9:285499f48cdd
Parent:
8:c4ec359af35d
Child:
10:518a8617c86e
bijna nieuwe biquads

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Miriam 0:d5fb29bc0847 1 //libaries
Miriam 0:d5fb29bc0847 2 #include "mbed.h"
Miriam 0:d5fb29bc0847 3 #include "BiQuad.h"
Miriam 0:d5fb29bc0847 4 #include "HIDScope.h"
Miriam 0:d5fb29bc0847 5 #include "encoder.h"
Miriam 0:d5fb29bc0847 6 #include "MODSERIAL.h"
Miriam 0:d5fb29bc0847 7
paulineoonk 3:36e706d6b3d2 8 //globalvariables Motor
paulineoonk 3:36e706d6b3d2 9 Ticker Treecko; //We make a awesome ticker for our control system
paulineoonk 8:c4ec359af35d 10 Ticker printer;
paulineoonk 8:c4ec359af35d 11 //PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
paulineoonk 8:c4ec359af35d 12 //DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
Miriam 0:d5fb29bc0847 13
paulineoonk 8:c4ec359af35d 14 //Encoder motor1(D13,D12,true);
paulineoonk 3:36e706d6b3d2 15 MODSERIAL pc(USBTX,USBRX);
paulineoonk 3:36e706d6b3d2 16
paulineoonk 8:c4ec359af35d 17 //double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
paulineoonk 3:36e706d6b3d2 18 const double Ts = 0.1; // tickettijd/ sample time
paulineoonk 8:c4ec359af35d 19 //double e_prev = 0;
paulineoonk 8:c4ec359af35d 20 //double e_int = 0;
paulineoonk 6:e0e5da2c068f 21 double tijdstap = 0.002;
paulineoonk 8:c4ec359af35d 22 volatile double LBF;
paulineoonk 8:c4ec359af35d 23 volatile double RBF;
paulineoonk 8:c4ec359af35d 24 volatile double LTF;
paulineoonk 8:c4ec359af35d 25 volatile double RTF;
Miriam 0:d5fb29bc0847 26
paulineoonk 7:05c71a859d27 27 //buttons en leds voor calibration
paulineoonk 7:05c71a859d27 28 DigitalIn button1(PTA4);
paulineoonk 9:285499f48cdd 29
paulineoonk 8:c4ec359af35d 30 DigitalOut ledred(LED_RED);
paulineoonk 7:05c71a859d27 31 DigitalOut ledblue(LED_BLUE);
paulineoonk 9:285499f48cdd 32 DigitalOut ledgreen(LED_GREEN);
paulineoonk 8:c4ec359af35d 33
paulineoonk 9:285499f48cdd 34
paulineoonk 9:285499f48cdd 35 double MVCLB = 0;
paulineoonk 9:285499f48cdd 36 double MVCRB = 0;
paulineoonk 9:285499f48cdd 37 double MVCLT = 0;
paulineoonk 9:285499f48cdd 38 double MVCRT = 0;
paulineoonk 8:c4ec359af35d 39
paulineoonk 7:05c71a859d27 40 bool caldone = false;
paulineoonk 8:c4ec359af35d 41 int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample
paulineoonk 8:c4ec359af35d 42
paulineoonk 9:285499f48cdd 43 int Timescalibration = 0;
paulineoonk 9:285499f48cdd 44 //int TimescalibrationRB = 0;
paulineoonk 9:285499f48cdd 45 //int TimescalibrationLT = 0;
paulineoonk 9:285499f48cdd 46 //int TimescalibrationRT = 0;
Miriam 0:d5fb29bc0847 47
paulineoonk 9:285499f48cdd 48 // Biquad filters voor Left Bicep (LB)
paulineoonk 9:285499f48cdd 49 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 50 BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 51 BiQuadChain NFLB;
paulineoonk 9:285499f48cdd 52 BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 53 BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 54 BiQuadChain HPFLB;
paulineoonk 9:285499f48cdd 55 BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 56 BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 57 BiQuadChain LPFLB;
paulineoonk 9:285499f48cdd 58
paulineoonk 9:285499f48cdd 59 // Biquad filters voor Right Bicep (RB)
Miriam 0:d5fb29bc0847 60 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 61 BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 62 BiQuadChain NFRB;
paulineoonk 9:285499f48cdd 63 BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 64 BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 65 BiQuadChain HPFRB;
paulineoonk 9:285499f48cdd 66 BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 67 BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 68 BiQuadChain LPFRB;
paulineoonk 9:285499f48cdd 69
paulineoonk 9:285499f48cdd 70 // Biquad filters voor Left Tricep (LT)
paulineoonk 9:285499f48cdd 71 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 72 BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 73 BiQuadChain NFLT;
paulineoonk 9:285499f48cdd 74 BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 75 BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 76 BiQuadChain HPFLT;
paulineoonk 9:285499f48cdd 77 BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 78 BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 79 BiQuadChain LPFLT;
paulineoonk 9:285499f48cdd 80
paulineoonk 9:285499f48cdd 81 // Biquad filters voor Left Tricep (RT)
paulineoonk 9:285499f48cdd 82 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 83 BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 84 BiQuadChain NFRT;
paulineoonk 9:285499f48cdd 85 BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 86 BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 87 BiQuadChain HPFRT;
paulineoonk 9:285499f48cdd 88 BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 89 BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 90 BiQuadChain LPFRT;
paulineoonk 9:285499f48cdd 91
paulineoonk 9:285499f48cdd 92
paulineoonk 7:05c71a859d27 93
paulineoonk 7:05c71a859d27 94 Timer looptime; //moetuiteindelijk weg
paulineoonk 6:e0e5da2c068f 95
paulineoonk 7:05c71a859d27 96 //filters
paulineoonk 8:c4ec359af35d 97 double emgNotchLB;
paulineoonk 8:c4ec359af35d 98 double emgHPLB;
paulineoonk 8:c4ec359af35d 99 double emgAbsHPLB;
paulineoonk 8:c4ec359af35d 100 double emgLPLB;
paulineoonk 8:c4ec359af35d 101
paulineoonk 8:c4ec359af35d 102 double emgNotchRB;
paulineoonk 8:c4ec359af35d 103 double emgHPRB;
paulineoonk 8:c4ec359af35d 104 double emgAbsHPRB;
paulineoonk 8:c4ec359af35d 105 double emgLPRB;
paulineoonk 7:05c71a859d27 106
paulineoonk 8:c4ec359af35d 107 double emgNotchLT;
paulineoonk 8:c4ec359af35d 108 double emgHPLT;
paulineoonk 8:c4ec359af35d 109 double emgAbsHPLT;
paulineoonk 8:c4ec359af35d 110 double emgLPLT;
paulineoonk 7:05c71a859d27 111
paulineoonk 8:c4ec359af35d 112 double emgNotchRT;
paulineoonk 8:c4ec359af35d 113 double emgHPRT;
paulineoonk 8:c4ec359af35d 114 double emgAbsHPRT;
paulineoonk 8:c4ec359af35d 115 double emgLPRT;
Miriam 0:d5fb29bc0847 116
paulineoonk 3:36e706d6b3d2 117 double f = 500; // frequency
paulineoonk 3:36e706d6b3d2 118 double dt = 1/f; // sample frequency
paulineoonk 8:c4ec359af35d 119
paulineoonk 8:c4ec359af35d 120 AnalogIn emgLB(A0); // EMG lezen
paulineoonk 8:c4ec359af35d 121 AnalogIn emgRB(A1);
paulineoonk 8:c4ec359af35d 122 AnalogIn emgLT(A2);
paulineoonk 8:c4ec359af35d 123 AnalogIn emgRT(A3);
Miriam 0:d5fb29bc0847 124
paulineoonk 9:285499f48cdd 125 //float MVCLB = 0.3;
paulineoonk 9:285499f48cdd 126 //float MVCRB = 0.3;
paulineoonk 9:285499f48cdd 127 //float MVCLT = 0.3;
paulineoonk 9:285499f48cdd 128 //float MVCRT = 0.3;
paulineoonk 8:c4ec359af35d 129
paulineoonk 8:c4ec359af35d 130 void Filteren()
Miriam 0:d5fb29bc0847 131 {
paulineoonk 6:e0e5da2c068f 132 looptime.reset();
paulineoonk 6:e0e5da2c068f 133 looptime.start();
paulineoonk 8:c4ec359af35d 134
paulineoonk 8:c4ec359af35d 135 //EMG 1
paulineoonk 8:c4ec359af35d 136
paulineoonk 8:c4ec359af35d 137 emgNotchLB = NF.step(emgLB.read() ); // Notch filter
paulineoonk 9:285499f48cdd 138 emgHPLB = HPF.step(emgNotchLB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 139 emgAbsHPLB = abs(emgHPLB); // Take absolute value
paulineoonk 8:c4ec359af35d 140 emgLPLB = LPF.step(emgAbsHPLB); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 141 LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor
paulineoonk 9:285499f48cdd 142
paulineoonk 9:285499f48cdd 143 emgNotchRB = NF.step(emgRB.read()); // Notch filter
paulineoonk 8:c4ec359af35d 144 emgHPRB = HPF.step(emgNotchRB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 145 emgAbsHPRB = abs(emgHPRB); // Take absolute value
paulineoonk 8:c4ec359af35d 146 emgLPRB = LPF.step(emgAbsHPRB); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 147 RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 148
paulineoonk 8:c4ec359af35d 149 emgNotchLT = NF.step(emgLT.read() ); // Notch filter
paulineoonk 8:c4ec359af35d 150 emgHPLT = HPF.step(emgNotchLT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 151 emgAbsHPLT = abs(emgHPLT); // Take absolute value
paulineoonk 8:c4ec359af35d 152 emgLPLT = LPF.step(emgAbsHPLT); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 153 LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 154
paulineoonk 8:c4ec359af35d 155 emgNotchRT = NF.step(emgRT.read() ); // Notch filter
paulineoonk 8:c4ec359af35d 156 emgHPRT = HPF.step(emgNotchRT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 157 emgAbsHPRT = abs(emgHPRT); // Take absolute value
paulineoonk 8:c4ec359af35d 158 emgLPRT = LPF.step(emgAbsHPRT); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 159 RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 160
paulineoonk 8:c4ec359af35d 161 //if (emgFiltered >1)
paulineoonk 8:c4ec359af35d 162 //{
paulineoonk 8:c4ec359af35d 163 // emgFiltered=1.00;
paulineoonk 8:c4ec359af35d 164 //}
paulineoonk 8:c4ec359af35d 165 //pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f \r\n, emgreadRB = %f , emgFiltered = %f, maxi = %f \r\n, emgreadLT = %f , emgFiltered = %f, maxi = %f \r\n, emgreadRT = %f , emgFiltered = %f, maxi = %f \r\n",emgLB.read(), LBF, maxiLB,looptime.read(),emgRB.read(), RBF, maxiRB,emgLT.read(), LTF, maxiLT, emgRT.read(), RTF, maxiRT);
paulineoonk 6:e0e5da2c068f 166 //int maxwaarde = 4096; // = 64x64
paulineoonk 6:e0e5da2c068f 167 //double refP = emgFiltered*maxwaarde;
paulineoonk 6:e0e5da2c068f 168 //return refP; // value between 0 and 4096
paulineoonk 9:285499f48cdd 169
Miriam 0:d5fb29bc0847 170 }
paulineoonk 9:285499f48cdd 171
paulineoonk 7:05c71a859d27 172 void Calibration()
paulineoonk 7:05c71a859d27 173 {
paulineoonk 7:05c71a859d27 174 Timescalibration++;
paulineoonk 9:285499f48cdd 175
paulineoonk 9:285499f48cdd 176 if(Timescalibration<4000)
paulineoonk 9:285499f48cdd 177 {
paulineoonk 9:285499f48cdd 178 emgNotchLB = NF.step(emgLB.read() ); // Notch filter
paulineoonk 9:285499f48cdd 179 emgHPLB = HPF.step(emgNotchLB); // High-pass filter: also normalises around 0.
paulineoonk 9:285499f48cdd 180 emgAbsHPLB = abs(emgHPLB); // Take absolute value
paulineoonk 9:285499f48cdd 181 emgLPLB = LPF.step(emgAbsHPLB); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 182 double emgfinalLB = emgLPLB;
paulineoonk 9:285499f48cdd 183 if (emgfinalLB > MVCLB)
paulineoonk 9:285499f48cdd 184 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 185 MVCLB = emgfinalLB;
paulineoonk 9:285499f48cdd 186 }
paulineoonk 9:285499f48cdd 187 }
paulineoonk 9:285499f48cdd 188
paulineoonk 9:285499f48cdd 189 if(Timescalibration>4000 && Timescalibration<8000)
paulineoonk 9:285499f48cdd 190 {
paulineoonk 9:285499f48cdd 191 emgNotchRB = NF.step(emgRB.read()); // Notch filter
paulineoonk 9:285499f48cdd 192 emgHPRB = HPF.step(emgNotchRB); // High-pass filter: also normalises around 0.
paulineoonk 9:285499f48cdd 193 emgAbsHPRB = abs(emgHPRB); // Take absolute value
paulineoonk 9:285499f48cdd 194 emgLPRB = LPF.step(emgAbsHPRB); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 195 double emgfinalRB = emgLPRB;
paulineoonk 9:285499f48cdd 196 if (emgfinalRB > MVCRB)
paulineoonk 7:05c71a859d27 197 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 198 MVCRB = emgfinalRB;
paulineoonk 9:285499f48cdd 199 }
paulineoonk 9:285499f48cdd 200 }
paulineoonk 9:285499f48cdd 201
paulineoonk 9:285499f48cdd 202 if(Timescalibration>8000 && Timescalibration<12000)
paulineoonk 9:285499f48cdd 203 {
paulineoonk 9:285499f48cdd 204 emgNotchLT = NF.step(emgLT.read() ); // Notch filter
paulineoonk 9:285499f48cdd 205 emgHPLT = HPF.step(emgNotchLT); // High-pass filter: also normalises around 0.
paulineoonk 9:285499f48cdd 206 emgAbsHPLT = abs(emgHPLT); // Take absolute value
paulineoonk 9:285499f48cdd 207 emgLPLT = LPF.step(emgAbsHPLT); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 208 double emgfinalLT = emgLPLT;
paulineoonk 9:285499f48cdd 209 if (emgfinalLT > MVCLT)
paulineoonk 9:285499f48cdd 210 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 211 MVCLT = emgfinalLT;
paulineoonk 7:05c71a859d27 212 }
paulineoonk 9:285499f48cdd 213 }
paulineoonk 9:285499f48cdd 214
paulineoonk 9:285499f48cdd 215 if(Timescalibration>12000 && Timescalibration<16000)
paulineoonk 9:285499f48cdd 216 {
paulineoonk 9:285499f48cdd 217 emgNotchRT = NF.step(emgRT.read() ); // Notch filter
paulineoonk 9:285499f48cdd 218 emgHPRT = HPF.step(emgNotchRT); // High-pass filter: also normalises around 0.
paulineoonk 9:285499f48cdd 219 emgAbsHPRT = abs(emgHPRT); // Take absolute value
paulineoonk 9:285499f48cdd 220 emgLPRT = LPF.step(emgAbsHPRT); // Low-pass filter: creates envelope
paulineoonk 9:285499f48cdd 221 double emgfinalRT = emgLPRT;
paulineoonk 9:285499f48cdd 222 if (emgfinalRT > MVCRT)
paulineoonk 9:285499f48cdd 223 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 224 MVCRT = emgfinalRT;
paulineoonk 9:285499f48cdd 225 }
paulineoonk 9:285499f48cdd 226 }
paulineoonk 9:285499f48cdd 227
paulineoonk 9:285499f48cdd 228 if(Timescalibration>16000)
paulineoonk 7:05c71a859d27 229 {
paulineoonk 7:05c71a859d27 230 caldone=true;
paulineoonk 7:05c71a859d27 231 }
paulineoonk 9:285499f48cdd 232 // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal);
paulineoonk 9:285499f48cdd 233 //}
paulineoonk 7:05c71a859d27 234 //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!!
paulineoonk 7:05c71a859d27 235 //return maxi;
paulineoonk 7:05c71a859d27 236 }
paulineoonk 7:05c71a859d27 237
paulineoonk 9:285499f48cdd 238
paulineoonk 7:05c71a859d27 239
paulineoonk 6:e0e5da2c068f 240 /*
paulineoonk 3:36e706d6b3d2 241 double Encoder ()
paulineoonk 3:36e706d6b3d2 242 {
paulineoonk 3:36e706d6b3d2 243 double Huidigepositie = motor1.getPosition ();
paulineoonk 3:36e706d6b3d2 244 return Huidigepositie; // huidige positie = current position
paulineoonk 3:36e706d6b3d2 245 }
paulineoonk 6:e0e5da2c068f 246
paulineoonk 3:36e706d6b3d2 247 double FeedBackControl(double error, double &e_prev, double &e_int) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
Miriam 0:d5fb29bc0847 248 {
paulineoonk 3:36e706d6b3d2 249 double kp = 0.001; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 250 double Proportional= kp*error;
Miriam 0:d5fb29bc0847 251
paulineoonk 3:36e706d6b3d2 252 double kd = 0.0004; // has jet to be scaled
paulineoonk 3:36e706d6b3d2 253 double VelocityError = (error - e_prev)/Ts;
paulineoonk 3:36e706d6b3d2 254 double Derivative = kd*VelocityError;
Miriam 0:d5fb29bc0847 255 e_prev = error;
Miriam 0:d5fb29bc0847 256
paulineoonk 3:36e706d6b3d2 257 double ki = 0.00005; // has jet to be scaled
Miriam 0:d5fb29bc0847 258 e_int = e_int+Ts*error;
paulineoonk 3:36e706d6b3d2 259 double Integrator = ki*e_int;
Miriam 0:d5fb29bc0847 260
Miriam 0:d5fb29bc0847 261
paulineoonk 3:36e706d6b3d2 262 double motorValue = Proportional + Integrator + Derivative;
Miriam 0:d5fb29bc0847 263 return motorValue;
Miriam 0:d5fb29bc0847 264 }
paulineoonk 6:e0e5da2c068f 265
paulineoonk 3:36e706d6b3d2 266 void SetMotor1(double motorValue)
Miriam 0:d5fb29bc0847 267 {
Miriam 0:d5fb29bc0847 268 if (motorValue >= 0)
Miriam 0:d5fb29bc0847 269 {
Miriam 0:d5fb29bc0847 270 M1D = 0;
Miriam 0:d5fb29bc0847 271 }
Miriam 0:d5fb29bc0847 272 else
Miriam 0:d5fb29bc0847 273 {
Miriam 0:d5fb29bc0847 274 M1D = 1;
Miriam 0:d5fb29bc0847 275 }
Miriam 0:d5fb29bc0847 276
Miriam 0:d5fb29bc0847 277 if (fabs(motorValue) > 1)
Miriam 0:d5fb29bc0847 278 {
Miriam 0:d5fb29bc0847 279 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
Miriam 0:d5fb29bc0847 280 }
Miriam 0:d5fb29bc0847 281 else
Miriam 0:d5fb29bc0847 282 {
Miriam 0:d5fb29bc0847 283 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
Miriam 0:d5fb29bc0847 284 }
Miriam 0:d5fb29bc0847 285 }
paulineoonk 7:05c71a859d27 286 */
paulineoonk 3:36e706d6b3d2 287 void MeasureAndControl ()
Miriam 0:d5fb29bc0847 288 {
paulineoonk 3:36e706d6b3d2 289 // hier the control of the control system
paulineoonk 7:05c71a859d27 290
paulineoonk 9:285499f48cdd 291 if(caldone==false)
paulineoonk 9:285499f48cdd 292 {
paulineoonk 9:285499f48cdd 293 if(button1.read()==false)
paulineoonk 9:285499f48cdd 294 {
paulineoonk 9:285499f48cdd 295 Calibration();
paulineoonk 9:285499f48cdd 296 }
paulineoonk 9:285499f48cdd 297 }
paulineoonk 9:285499f48cdd 298 if (caldone==true)
paulineoonk 7:05c71a859d27 299
paulineoonk 9:285499f48cdd 300 {
paulineoonk 8:c4ec359af35d 301 Filteren();
paulineoonk 7:05c71a859d27 302 //rest
paulineoonk 9:285499f48cdd 303 }
paulineoonk 7:05c71a859d27 304
paulineoonk 4:5607088ef6f5 305 //double Huidigepositie = Encoder();
paulineoonk 4:5607088ef6f5 306 //double error = (refP - Huidigepositie);// make an error
paulineoonk 4:5607088ef6f5 307 //double motorValue = FeedBackControl(error, e_prev, e_int);
paulineoonk 7:05c71a859d27 308 //double motorValue = refP;
paulineoonk 7:05c71a859d27 309 //SetMotor1(motorValue);
Miriam 0:d5fb29bc0847 310 }
Miriam 0:d5fb29bc0847 311
paulineoonk 8:c4ec359af35d 312 void Tickerfunctie()
paulineoonk 8:c4ec359af35d 313 {
paulineoonk 9:285499f48cdd 314 pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f \r\n",emgRB.read(), RBF, MVCRB);
paulineoonk 9:285499f48cdd 315 pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f \r\n",emgLB.read(), LBF, MVCLB);
paulineoonk 9:285499f48cdd 316 pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f \r\n",emgRT.read(), RTF, MVCRT);
paulineoonk 9:285499f48cdd 317 pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f \r\n",emgLT.read(), LTF, MVCLT);
paulineoonk 8:c4ec359af35d 318 }
paulineoonk 7:05c71a859d27 319
Miriam 0:d5fb29bc0847 320 int main()
Miriam 0:d5fb29bc0847 321 {
paulineoonk 7:05c71a859d27 322 //voor EMG filteren
paulineoonk 9:285499f48cdd 323 NFLB.add( &N1LB );
paulineoonk 9:285499f48cdd 324 HPFLB.add( &HP1LB ).add( &HPLB );
paulineoonk 9:285499f48cdd 325 LPFLB.add( &LP1LB ).add( &LP2LB );
paulineoonk 9:285499f48cdd 326
paulineoonk 9:285499f48cdd 327
paulineoonk 3:36e706d6b3d2 328
paulineoonk 7:05c71a859d27 329 //voor serial
paulineoonk 7:05c71a859d27 330 pc.baud(115200);
paulineoonk 7:05c71a859d27 331
paulineoonk 7:05c71a859d27 332 //motor
paulineoonk 8:c4ec359af35d 333 // M1E.period(PwmPeriod); //set PWMposition at 5000hz
paulineoonk 7:05c71a859d27 334 //Ticker
paulineoonk 7:05c71a859d27 335 Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
paulineoonk 3:36e706d6b3d2 336 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 9:285499f48cdd 337 printer.attach(Tickerfunctie,0.4);
paulineoonk 3:36e706d6b3d2 338 while(true)
Miriam 0:d5fb29bc0847 339 {
paulineoonk 3:36e706d6b3d2 340 }
paulineoonk 3:36e706d6b3d2 341
paulineoonk 3:36e706d6b3d2 342
paulineoonk 3:36e706d6b3d2 343 }