State Machine, bezig met mooimaken
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Fork of vanEMGnaarMOTORPauline_States_nacht by
main.cpp@19:591572f4e4b5, 2017-11-03 (annotated)
- Committer:
- Gerber
- Date:
- Fri Nov 03 02:10:11 2017 +0000
- Revision:
- 19:591572f4e4b5
- Parent:
- 18:1e4f697a92cb
- Child:
- 20:14edaecd7413
GEEN FOUTMELDINGEN MET EMG EN ALLES!
Who changed what in which revision?
User | Revision | Line number | New 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 | 15:1cfe58aea10d | 8 | //State Machine en calibratie |
paulineoonk | 15:1cfe58aea10d | 9 | enum States {Cal1, Cal2, CalEMG, SelectDevice, EMG, Rest, Demo}; |
paulineoonk | 15:1cfe58aea10d | 10 | States State; |
paulineoonk | 15:1cfe58aea10d | 11 | int Counter; |
paulineoonk | 14:a861ba49107c | 12 | bool Position_controller_on; |
paulineoonk | 15:1cfe58aea10d | 13 | double looptime = 0.002f; |
paulineoonk | 15:1cfe58aea10d | 14 | double value; |
paulineoonk | 15:1cfe58aea10d | 15 | double home1; |
Gerber | 18:1e4f697a92cb | 16 | DigitalIn button (D1); |
paulineoonk | 15:1cfe58aea10d | 17 | |
paulineoonk | 15:1cfe58aea10d | 18 | //Encoder/motor |
paulineoonk | 15:1cfe58aea10d | 19 | double Huidigepositie1; |
paulineoonk | 15:1cfe58aea10d | 20 | double Huidigepositie2; |
paulineoonk | 15:1cfe58aea10d | 21 | double motorValue1; |
paulineoonk | 15:1cfe58aea10d | 22 | double motorValue2; |
paulineoonk | 14:a861ba49107c | 23 | |
paulineoonk | 3:36e706d6b3d2 | 24 | //globalvariables Motor |
paulineoonk | 3:36e706d6b3d2 | 25 | Ticker Treecko; //We make a awesome ticker for our control system |
paulineoonk | 8:c4ec359af35d | 26 | Ticker printer; |
paulineoonk | 16:2f89d6e25782 | 27 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
paulineoonk | 16:2f89d6e25782 | 28 | PwmOut M2E(D5); |
paulineoonk | 16:2f89d6e25782 | 29 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
paulineoonk | 16:2f89d6e25782 | 30 | Encoder motor1(D13,D12,true); |
paulineoonk | 16:2f89d6e25782 | 31 | Encoder motor2(D9,D8,true); |
paulineoonk | 16:2f89d6e25782 | 32 | DigitalOut M2D(D4); |
Miriam | 0:d5fb29bc0847 | 33 | |
paulineoonk | 16:2f89d6e25782 | 34 | //DEMO |
paulineoonk | 16:2f89d6e25782 | 35 | AnalogIn potMeter2(A1); |
paulineoonk | 16:2f89d6e25782 | 36 | AnalogIn potMeter1(A2); |
paulineoonk | 16:2f89d6e25782 | 37 | |
paulineoonk | 3:36e706d6b3d2 | 38 | MODSERIAL pc(USBTX,USBRX); |
paulineoonk | 3:36e706d6b3d2 | 39 | |
paulineoonk | 16:2f89d6e25782 | 40 | double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
paulineoonk | 3:36e706d6b3d2 | 41 | const double Ts = 0.1; // tickettijd/ sample time |
paulineoonk | 16:2f89d6e25782 | 42 | double e_prev = 0; |
paulineoonk | 16:2f89d6e25782 | 43 | double e_int = 0; |
paulineoonk | 16:2f89d6e25782 | 44 | double e_prev2 = 0; |
paulineoonk | 16:2f89d6e25782 | 45 | double e_int2 = 0; |
paulineoonk | 16:2f89d6e25782 | 46 | |
paulineoonk | 6:e0e5da2c068f | 47 | double tijdstap = 0.002; |
paulineoonk | 8:c4ec359af35d | 48 | volatile double LBF; |
paulineoonk | 8:c4ec359af35d | 49 | volatile double RBF; |
paulineoonk | 8:c4ec359af35d | 50 | volatile double LTF; |
paulineoonk | 8:c4ec359af35d | 51 | volatile double RTF; |
Miriam | 0:d5fb29bc0847 | 52 | |
paulineoonk | 7:05c71a859d27 | 53 | //buttons en leds voor calibration |
paulineoonk | 7:05c71a859d27 | 54 | DigitalIn button1(PTA4); |
paulineoonk | 9:285499f48cdd | 55 | |
Gerber | 18:1e4f697a92cb | 56 | DigitalOut led(D2); |
paulineoonk | 8:c4ec359af35d | 57 | |
paulineoonk | 10:518a8617c86e | 58 | //MVC for calibration |
paulineoonk | 10:518a8617c86e | 59 | double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; |
paulineoonk | 10:518a8617c86e | 60 | //MEAN for calibration - rest |
paulineoonk | 10:518a8617c86e | 61 | double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; |
paulineoonk | 9:285499f48cdd | 62 | |
paulineoonk | 10:518a8617c86e | 63 | double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ; |
paulineoonk | 10:518a8617c86e | 64 | double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT; |
paulineoonk | 10:518a8617c86e | 65 | |
paulineoonk | 8:c4ec359af35d | 66 | |
paulineoonk | 7:05c71a859d27 | 67 | bool caldone = false; |
paulineoonk | 8:c4ec359af35d | 68 | int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample |
paulineoonk | 8:c4ec359af35d | 69 | |
paulineoonk | 9:285499f48cdd | 70 | int Timescalibration = 0; |
paulineoonk | 10:518a8617c86e | 71 | int TimescalibrationREST = 0; |
paulineoonk | 10:518a8617c86e | 72 | |
Miriam | 0:d5fb29bc0847 | 73 | |
paulineoonk | 9:285499f48cdd | 74 | // Biquad filters voor Left Bicep (LB) |
paulineoonk | 9:285499f48cdd | 75 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 76 | BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 77 | BiQuadChain NFLB; |
paulineoonk | 9:285499f48cdd | 78 | BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 79 | BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 80 | BiQuadChain HPFLB; |
paulineoonk | 9:285499f48cdd | 81 | BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 82 | BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 83 | BiQuadChain LPFLB; |
paulineoonk | 9:285499f48cdd | 84 | |
paulineoonk | 9:285499f48cdd | 85 | // Biquad filters voor Right Bicep (RB) |
Miriam | 0:d5fb29bc0847 | 86 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 87 | BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 88 | BiQuadChain NFRB; |
paulineoonk | 9:285499f48cdd | 89 | BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 90 | BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 91 | BiQuadChain HPFRB; |
paulineoonk | 9:285499f48cdd | 92 | BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 93 | BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 94 | BiQuadChain LPFRB; |
paulineoonk | 9:285499f48cdd | 95 | |
paulineoonk | 9:285499f48cdd | 96 | // Biquad filters voor Left Tricep (LT) |
paulineoonk | 9:285499f48cdd | 97 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 98 | BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 99 | BiQuadChain NFLT; |
paulineoonk | 9:285499f48cdd | 100 | BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 101 | BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 102 | BiQuadChain HPFLT; |
paulineoonk | 9:285499f48cdd | 103 | BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 104 | BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 105 | BiQuadChain LPFLT; |
paulineoonk | 9:285499f48cdd | 106 | |
paulineoonk | 9:285499f48cdd | 107 | // Biquad filters voor Left Tricep (RT) |
paulineoonk | 9:285499f48cdd | 108 | // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter |
paulineoonk | 9:285499f48cdd | 109 | BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 110 | BiQuadChain NFRT; |
paulineoonk | 9:285499f48cdd | 111 | BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 112 | BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 113 | BiQuadChain HPFRT; |
paulineoonk | 9:285499f48cdd | 114 | BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 115 | BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 116 | BiQuadChain LPFRT; |
paulineoonk | 9:285499f48cdd | 117 | |
paulineoonk | 15:1cfe58aea10d | 118 | Timer LooptimeEMG; //moetuiteindelijk weg |
paulineoonk | 6:e0e5da2c068f | 119 | |
paulineoonk | 7:05c71a859d27 | 120 | //filters |
paulineoonk | 8:c4ec359af35d | 121 | double emgNotchLB; |
paulineoonk | 8:c4ec359af35d | 122 | double emgHPLB; |
paulineoonk | 8:c4ec359af35d | 123 | double emgAbsHPLB; |
paulineoonk | 8:c4ec359af35d | 124 | double emgLPLB; |
paulineoonk | 8:c4ec359af35d | 125 | |
paulineoonk | 8:c4ec359af35d | 126 | double emgNotchRB; |
paulineoonk | 8:c4ec359af35d | 127 | double emgHPRB; |
paulineoonk | 8:c4ec359af35d | 128 | double emgAbsHPRB; |
paulineoonk | 8:c4ec359af35d | 129 | double emgLPRB; |
paulineoonk | 7:05c71a859d27 | 130 | |
paulineoonk | 8:c4ec359af35d | 131 | double emgNotchLT; |
paulineoonk | 8:c4ec359af35d | 132 | double emgHPLT; |
paulineoonk | 8:c4ec359af35d | 133 | double emgAbsHPLT; |
paulineoonk | 8:c4ec359af35d | 134 | double emgLPLT; |
paulineoonk | 7:05c71a859d27 | 135 | |
paulineoonk | 8:c4ec359af35d | 136 | double emgNotchRT; |
paulineoonk | 8:c4ec359af35d | 137 | double emgHPRT; |
paulineoonk | 8:c4ec359af35d | 138 | double emgAbsHPRT; |
paulineoonk | 8:c4ec359af35d | 139 | double emgLPRT; |
Miriam | 0:d5fb29bc0847 | 140 | |
paulineoonk | 3:36e706d6b3d2 | 141 | double f = 500; // frequency |
paulineoonk | 3:36e706d6b3d2 | 142 | double dt = 1/f; // sample frequency |
paulineoonk | 8:c4ec359af35d | 143 | |
paulineoonk | 8:c4ec359af35d | 144 | AnalogIn emgLB(A0); // EMG lezen |
paulineoonk | 8:c4ec359af35d | 145 | AnalogIn emgRB(A1); |
paulineoonk | 8:c4ec359af35d | 146 | AnalogIn emgLT(A2); |
paulineoonk | 8:c4ec359af35d | 147 | AnalogIn emgRT(A3); |
Miriam | 0:d5fb29bc0847 | 148 | |
paulineoonk | 16:2f89d6e25782 | 149 | //double MVCLB = 0.3; |
paulineoonk | 16:2f89d6e25782 | 150 | //double MVCRB = 0.3; |
paulineoonk | 16:2f89d6e25782 | 151 | //double MVCLT = 0.3; |
paulineoonk | 16:2f89d6e25782 | 152 | //double MVCRT = 0.3; |
paulineoonk | 8:c4ec359af35d | 153 | |
paulineoonk | 11:b46a4c48c08f | 154 | // variabelen changePosition |
paulineoonk | 11:b46a4c48c08f | 155 | int goalx, goaly; |
paulineoonk | 11:b46a4c48c08f | 156 | |
Gerber | 18:1e4f697a92cb | 157 | // variables RKI |
Gerber | 18:1e4f697a92cb | 158 | double pi = 3.14159265359; |
Gerber | 18:1e4f697a92cb | 159 | double q1 = (pi/2); //Reference position hoek 1 in radiance |
Gerber | 18:1e4f697a92cb | 160 | double q2 = -(pi/2); //Reference position hoek 2 in radiance |
Gerber | 18:1e4f697a92cb | 161 | const double L1 = 0.30; //Length arm 1 in mm |
Gerber | 18:1e4f697a92cb | 162 | const double L2 = 0.38; //Length arm 2 in mm |
Gerber | 18:1e4f697a92cb | 163 | double B1 = 1; //Friction constant motor 1 |
Gerber | 18:1e4f697a92cb | 164 | double B2 = 1; //Friction constant motor 2 |
Gerber | 18:1e4f697a92cb | 165 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Gerber | 18:1e4f697a92cb | 166 | double Tijd = 1; //Timestep value |
Gerber | 18:1e4f697a92cb | 167 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 168 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 169 | double refP = 0; //Reference position motor 1 |
Gerber | 18:1e4f697a92cb | 170 | double refP2 = 0.5*pi; //Reference position motor 2 |
Gerber | 18:1e4f697a92cb | 171 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 172 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 173 | double R1x = 0; //The x-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 174 | double R1y = 0; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 175 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Gerber | 18:1e4f697a92cb | 176 | double R2y = sin(q1)*L1; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 177 | double Fx = 0; |
Gerber | 18:1e4f697a92cb | 178 | double Fy = 0; |
Gerber | 18:1e4f697a92cb | 179 | double Tor1 = 0; |
Gerber | 18:1e4f697a92cb | 180 | double Tor2 = 0; |
Gerber | 18:1e4f697a92cb | 181 | double w1= 0; |
Gerber | 18:1e4f697a92cb | 182 | double w2= 0; |
Gerber | 18:1e4f697a92cb | 183 | |
paulineoonk | 8:c4ec359af35d | 184 | void Filteren() |
Miriam | 0:d5fb29bc0847 | 185 | { |
paulineoonk | 15:1cfe58aea10d | 186 | // LooptimeEMG.reset(); |
paulineoonk | 15:1cfe58aea10d | 187 | // LooptimeEMG.start(); |
paulineoonk | 8:c4ec359af35d | 188 | |
paulineoonk | 8:c4ec359af35d | 189 | //EMG 1 |
paulineoonk | 8:c4ec359af35d | 190 | |
paulineoonk | 10:518a8617c86e | 191 | emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 192 | emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 193 | emgAbsHPLB = abs(emgHPLB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 194 | emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 195 | emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value |
paulineoonk | 10:518a8617c86e | 196 | LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. |
paulineoonk | 9:285499f48cdd | 197 | |
paulineoonk | 10:518a8617c86e | 198 | emgNotchRB = NFRB.step(emgRB.read()); // Notch filter |
paulineoonk | 10:518a8617c86e | 199 | emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 200 | emgAbsHPRB = abs(emgHPRB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 201 | emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 202 | emgMEANSUBLB = emgLPLB - RESTMEANLB; |
paulineoonk | 9:285499f48cdd | 203 | RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 204 | |
paulineoonk | 10:518a8617c86e | 205 | emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 206 | emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 207 | emgAbsHPLT = abs(emgHPLT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 208 | emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 209 | emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 210 | LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 211 | |
paulineoonk | 10:518a8617c86e | 212 | emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 213 | emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 214 | emgAbsHPRT = abs(emgHPRT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 215 | emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 216 | emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 217 | RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 218 | |
paulineoonk | 8:c4ec359af35d | 219 | //if (emgFiltered >1) |
paulineoonk | 8:c4ec359af35d | 220 | //{ |
paulineoonk | 8:c4ec359af35d | 221 | // emgFiltered=1.00; |
paulineoonk | 8:c4ec359af35d | 222 | //} |
paulineoonk | 8:c4ec359af35d | 223 | //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 | 224 | //int maxwaarde = 4096; // = 64x64 |
paulineoonk | 6:e0e5da2c068f | 225 | //double refP = emgFiltered*maxwaarde; |
paulineoonk | 6:e0e5da2c068f | 226 | //return refP; // value between 0 and 4096 |
paulineoonk | 9:285499f48cdd | 227 | |
Miriam | 0:d5fb29bc0847 | 228 | } |
paulineoonk | 9:285499f48cdd | 229 | |
paulineoonk | 10:518a8617c86e | 230 | void CalibrationEMG() |
paulineoonk | 7:05c71a859d27 | 231 | { |
paulineoonk | 7:05c71a859d27 | 232 | Timescalibration++; |
paulineoonk | 9:285499f48cdd | 233 | |
paulineoonk | 10:518a8617c86e | 234 | if(Timescalibration<2000) |
paulineoonk | 9:285499f48cdd | 235 | { |
charloverwijk | 17:dbdbd1edc260 | 236 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 237 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 238 | led = 0; |
paulineoonk | 10:518a8617c86e | 239 | |
paulineoonk | 10:518a8617c86e | 240 | emgNotchLB = NFLB.step(emgLB.read() ); |
paulineoonk | 10:518a8617c86e | 241 | emgHPLB = HPFLB.step(emgNotchLB); |
paulineoonk | 10:518a8617c86e | 242 | emgAbsHPLB = abs(emgHPLB); |
paulineoonk | 10:518a8617c86e | 243 | emgLPLB = LPFLB.step(emgAbsHPLB); |
paulineoonk | 10:518a8617c86e | 244 | emgSUMLB += emgLPLB; //SUM all rest values LB |
paulineoonk | 10:518a8617c86e | 245 | |
paulineoonk | 11:b46a4c48c08f | 246 | emgNotchRB = NFRB.step(emgRB.read()); |
paulineoonk | 10:518a8617c86e | 247 | emgHPRB = HPFRB.step(emgNotchRB); |
paulineoonk | 10:518a8617c86e | 248 | emgAbsHPRB = abs(emgHPRB); |
paulineoonk | 10:518a8617c86e | 249 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 10:518a8617c86e | 250 | emgSUMRB += emgLPRB; //SUM all rest values RB |
paulineoonk | 10:518a8617c86e | 251 | |
paulineoonk | 10:518a8617c86e | 252 | emgNotchLT = NFLT.step(emgLT.read() ); |
paulineoonk | 10:518a8617c86e | 253 | emgHPLT = HPFLT.step(emgNotchLT); |
paulineoonk | 10:518a8617c86e | 254 | emgAbsHPLT = abs(emgHPLT); |
paulineoonk | 10:518a8617c86e | 255 | emgLPLT = LPFLT.step(emgAbsHPLT); |
paulineoonk | 10:518a8617c86e | 256 | emgSUMLT += emgLPLT; //SUM all rest values LT |
paulineoonk | 10:518a8617c86e | 257 | |
paulineoonk | 10:518a8617c86e | 258 | emgNotchRT = NFRT.step(emgRT.read() ); |
paulineoonk | 10:518a8617c86e | 259 | emgHPRT = HPFRT.step(emgNotchRT); |
paulineoonk | 10:518a8617c86e | 260 | emgAbsHPRT = abs(emgHPRT); |
paulineoonk | 10:518a8617c86e | 261 | emgLPRT = LPFRT.step(emgAbsHPRT); |
paulineoonk | 10:518a8617c86e | 262 | emgSUMRT += emgLPRT; //SUM all rest values RT |
paulineoonk | 10:518a8617c86e | 263 | } |
paulineoonk | 10:518a8617c86e | 264 | if(Timescalibration==1999) |
paulineoonk | 10:518a8617c86e | 265 | { |
charloverwijk | 17:dbdbd1edc260 | 266 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 267 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 268 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 269 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 270 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 271 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 272 | led = 0; |
paulineoonk | 10:518a8617c86e | 273 | RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 274 | RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 275 | RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 276 | RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 277 | } |
paulineoonk | 10:518a8617c86e | 278 | if(Timescalibration>2000 && Timescalibration<6000) |
paulineoonk | 10:518a8617c86e | 279 | { |
charloverwijk | 17:dbdbd1edc260 | 280 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 281 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 282 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 283 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 284 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 285 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 286 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 287 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 288 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 289 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 290 | led = 0; |
paulineoonk | 10:518a8617c86e | 291 | emgNotchLB = NFLB.step(emgLB.read() ); |
paulineoonk | 10:518a8617c86e | 292 | emgHPLB = HPFLB.step(emgNotchLB); |
paulineoonk | 10:518a8617c86e | 293 | emgAbsHPLB = abs(emgHPLB); |
paulineoonk | 10:518a8617c86e | 294 | emgLPLB = LPFLB.step(emgAbsHPLB); |
paulineoonk | 9:285499f48cdd | 295 | double emgfinalLB = emgLPLB; |
paulineoonk | 9:285499f48cdd | 296 | if (emgfinalLB > MVCLB) |
paulineoonk | 9:285499f48cdd | 297 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 298 | MVCLB = emgfinalLB; |
paulineoonk | 9:285499f48cdd | 299 | } |
paulineoonk | 9:285499f48cdd | 300 | } |
paulineoonk | 9:285499f48cdd | 301 | |
paulineoonk | 10:518a8617c86e | 302 | if(Timescalibration>6000 && Timescalibration<10000) |
paulineoonk | 9:285499f48cdd | 303 | { |
charloverwijk | 17:dbdbd1edc260 | 304 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 305 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 306 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 307 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 308 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 309 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 310 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 311 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 312 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 313 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 314 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 315 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 316 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 317 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 318 | led = 0; |
paulineoonk | 10:518a8617c86e | 319 | emgNotchRB = NFRB.step(emgRB.read()); |
paulineoonk | 10:518a8617c86e | 320 | emgHPRB = HPFRB.step(emgNotchRB); |
paulineoonk | 10:518a8617c86e | 321 | emgAbsHPRB = abs(emgHPRB); |
paulineoonk | 10:518a8617c86e | 322 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 9:285499f48cdd | 323 | double emgfinalRB = emgLPRB; |
paulineoonk | 9:285499f48cdd | 324 | if (emgfinalRB > MVCRB) |
paulineoonk | 7:05c71a859d27 | 325 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 326 | MVCRB = emgfinalRB; |
paulineoonk | 9:285499f48cdd | 327 | } |
paulineoonk | 9:285499f48cdd | 328 | } |
paulineoonk | 9:285499f48cdd | 329 | |
paulineoonk | 10:518a8617c86e | 330 | if(Timescalibration>10000 && Timescalibration<14000) |
paulineoonk | 9:285499f48cdd | 331 | { |
charloverwijk | 17:dbdbd1edc260 | 332 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 333 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 334 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 335 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 336 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 337 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 338 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 339 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 340 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 341 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 342 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 343 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 344 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 345 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 346 | led = 0; |
charloverwijk | 17:dbdbd1edc260 | 347 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 348 | led = 1; |
charloverwijk | 17:dbdbd1edc260 | 349 | wait(0.2); |
charloverwijk | 17:dbdbd1edc260 | 350 | led = 0; |
paulineoonk | 10:518a8617c86e | 351 | emgNotchLT = NFLT.step(emgLT.read() ); |
paulineoonk | 10:518a8617c86e | 352 | emgHPLT = HPFLT.step(emgNotchLT); |
paulineoonk | 10:518a8617c86e | 353 | emgAbsHPLT = abs(emgHPLT); |
paulineoonk | 10:518a8617c86e | 354 | emgLPLT = LPFLT.step(emgAbsHPLT); |
paulineoonk | 9:285499f48cdd | 355 | double emgfinalLT = emgLPLT; |
paulineoonk | 9:285499f48cdd | 356 | if (emgfinalLT > MVCLT) |
paulineoonk | 9:285499f48cdd | 357 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 358 | MVCLT = emgfinalLT; |
paulineoonk | 7:05c71a859d27 | 359 | } |
paulineoonk | 9:285499f48cdd | 360 | } |
paulineoonk | 9:285499f48cdd | 361 | |
paulineoonk | 10:518a8617c86e | 362 | if(Timescalibration>14000 && Timescalibration<18000) |
paulineoonk | 9:285499f48cdd | 363 | { |
paulineoonk | 10:518a8617c86e | 364 | emgNotchRT = NFRT.step(emgRT.read() ); |
paulineoonk | 10:518a8617c86e | 365 | emgHPRT = HPFRT.step(emgNotchRT); |
paulineoonk | 10:518a8617c86e | 366 | emgAbsHPRT = abs(emgHPRT); |
paulineoonk | 10:518a8617c86e | 367 | emgLPRT = LPFRT.step(emgAbsHPRT); |
paulineoonk | 9:285499f48cdd | 368 | double emgfinalRT = emgLPRT; |
paulineoonk | 9:285499f48cdd | 369 | if (emgfinalRT > MVCRT) |
paulineoonk | 9:285499f48cdd | 370 | { //determine what the highest reachable emg signal is |
paulineoonk | 9:285499f48cdd | 371 | MVCRT = emgfinalRT; |
paulineoonk | 9:285499f48cdd | 372 | } |
paulineoonk | 9:285499f48cdd | 373 | } |
paulineoonk | 9:285499f48cdd | 374 | |
paulineoonk | 10:518a8617c86e | 375 | if(Timescalibration>18000) |
paulineoonk | 7:05c71a859d27 | 376 | { |
paulineoonk | 7:05c71a859d27 | 377 | caldone=true; |
paulineoonk | 7:05c71a859d27 | 378 | } |
paulineoonk | 9:285499f48cdd | 379 | // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal); |
paulineoonk | 9:285499f48cdd | 380 | //} |
paulineoonk | 7:05c71a859d27 | 381 | //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!! |
paulineoonk | 7:05c71a859d27 | 382 | //return maxi; |
paulineoonk | 7:05c71a859d27 | 383 | } |
paulineoonk | 16:2f89d6e25782 | 384 | |
Gerber | 18:1e4f697a92cb | 385 | void RKI() |
Gerber | 18:1e4f697a92cb | 386 | { |
Gerber | 18:1e4f697a92cb | 387 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Gerber | 18:1e4f697a92cb | 388 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Gerber | 18:1e4f697a92cb | 389 | R2x = cos(q1)*L1; |
Gerber | 18:1e4f697a92cb | 390 | R2y = sin(q1)*L1; |
Gerber | 18:1e4f697a92cb | 391 | Fx = (Rsx-Rex)*K; |
Gerber | 18:1e4f697a92cb | 392 | Fy = (Rsy-Rey)*K; |
Gerber | 18:1e4f697a92cb | 393 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 394 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 395 | w1 = Tor1/B1; |
Gerber | 18:1e4f697a92cb | 396 | w2 = Tor2/B2; |
Gerber | 18:1e4f697a92cb | 397 | q1 = q1 + w1*Tijd; |
Gerber | 18:1e4f697a92cb | 398 | q2 = q2 + w2*Tijd; |
Gerber | 18:1e4f697a92cb | 399 | |
Gerber | 18:1e4f697a92cb | 400 | int maxwaarde = 4096; // = 64x64 |
Gerber | 18:1e4f697a92cb | 401 | refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde; |
Gerber | 18:1e4f697a92cb | 402 | refP2 = (((-pi) + q1 - q2)/(2*pi))*maxwaarde; //Get reference positions was eerst 0.5*pi |
Gerber | 18:1e4f697a92cb | 403 | } |
Gerber | 18:1e4f697a92cb | 404 | |
Gerber | 18:1e4f697a92cb | 405 | void SetpointRobot() |
Gerber | 18:1e4f697a92cb | 406 | { |
Gerber | 18:1e4f697a92cb | 407 | double Potmeterwaarde2 = potMeter2.read(); |
Gerber | 18:1e4f697a92cb | 408 | double Potmeterwaarde1 = potMeter1.read(); |
Gerber | 18:1e4f697a92cb | 409 | |
Gerber | 18:1e4f697a92cb | 410 | if (Potmeterwaarde2>0.6) { |
Gerber | 18:1e4f697a92cb | 411 | Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 412 | } |
Gerber | 18:1e4f697a92cb | 413 | else if (Potmeterwaarde2<0.4) { |
Gerber | 18:1e4f697a92cb | 414 | Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat |
Gerber | 18:1e4f697a92cb | 415 | } |
Gerber | 18:1e4f697a92cb | 416 | else { //de x-waarde van de setpoint verandert niet |
Gerber | 18:1e4f697a92cb | 417 | } |
Gerber | 18:1e4f697a92cb | 418 | |
Gerber | 18:1e4f697a92cb | 419 | if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 420 | Rsy += 0.001; |
Gerber | 18:1e4f697a92cb | 421 | } |
Gerber | 18:1e4f697a92cb | 422 | else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 |
Gerber | 18:1e4f697a92cb | 423 | Rsy -= 0.001; |
Gerber | 18:1e4f697a92cb | 424 | } |
Gerber | 18:1e4f697a92cb | 425 | else { //de y-waarde van de setpoint verandert niet |
Gerber | 18:1e4f697a92cb | 426 | } |
Gerber | 18:1e4f697a92cb | 427 | } |
Gerber | 18:1e4f697a92cb | 428 | |
paulineoonk | 16:2f89d6e25782 | 429 | double GetReferencePosition() |
paulineoonk | 16:2f89d6e25782 | 430 | { |
paulineoonk | 16:2f89d6e25782 | 431 | double Potmeterwaarde = potMeter2.read(); //naam moet universeel worden |
paulineoonk | 16:2f89d6e25782 | 432 | int maxwaarde = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 433 | double refP = Potmeterwaarde*maxwaarde; |
paulineoonk | 16:2f89d6e25782 | 434 | return refP; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 435 | } |
paulineoonk | 16:2f89d6e25782 | 436 | |
paulineoonk | 16:2f89d6e25782 | 437 | double GetReferencePosition2() |
paulineoonk | 16:2f89d6e25782 | 438 | { |
paulineoonk | 16:2f89d6e25782 | 439 | double potmeterwaarde2 = potMeter1.read(); |
paulineoonk | 16:2f89d6e25782 | 440 | int maxwaarde2 = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 441 | double refP2 = potmeterwaarde2*maxwaarde2; |
paulineoonk | 16:2f89d6e25782 | 442 | return refP2; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 443 | } |
Gerber | 18:1e4f697a92cb | 444 | |
Gerber | 19:591572f4e4b5 | 445 | 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) |
paulineoonk | 16:2f89d6e25782 | 446 | { |
Gerber | 19:591572f4e4b5 | 447 | double kp = 0.0015; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 448 | double Proportional= kp*error; |
paulineoonk | 16:2f89d6e25782 | 449 | |
Gerber | 19:591572f4e4b5 | 450 | double kd = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 451 | double VelocityError = (error - e_prev)/Ts; |
Gerber | 19:591572f4e4b5 | 452 | double Derivative = kd*VelocityError; |
paulineoonk | 16:2f89d6e25782 | 453 | e_prev = error; |
paulineoonk | 16:2f89d6e25782 | 454 | |
Gerber | 19:591572f4e4b5 | 455 | double ki = 0.0001; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 456 | e_int = e_int+Ts*error; |
Gerber | 19:591572f4e4b5 | 457 | double Integrator = ki*e_int; |
paulineoonk | 16:2f89d6e25782 | 458 | |
Gerber | 18:1e4f697a92cb | 459 | |
Gerber | 19:591572f4e4b5 | 460 | double motorValue = Proportional + Integrator + Derivative; |
paulineoonk | 16:2f89d6e25782 | 461 | return motorValue; |
paulineoonk | 16:2f89d6e25782 | 462 | } |
paulineoonk | 16:2f89d6e25782 | 463 | |
Gerber | 19:591572f4e4b5 | 464 | double FeedBackControl2(double error2, double &e_prev2, double &e_int2) // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking) |
paulineoonk | 16:2f89d6e25782 | 465 | { |
Gerber | 19:591572f4e4b5 | 466 | double kp2 = 0.002; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 467 | double Proportional2= kp2*error2; |
paulineoonk | 16:2f89d6e25782 | 468 | |
Gerber | 19:591572f4e4b5 | 469 | double kd2 = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 470 | double VelocityError2 = (error2 - e_prev2)/Ts; |
Gerber | 19:591572f4e4b5 | 471 | double Derivative2 = kd2*VelocityError2; |
paulineoonk | 16:2f89d6e25782 | 472 | e_prev2 = error2; |
paulineoonk | 16:2f89d6e25782 | 473 | |
Gerber | 19:591572f4e4b5 | 474 | double ki2 = 0.00005; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 475 | e_int2 = e_int2+Ts*error2; |
Gerber | 19:591572f4e4b5 | 476 | double Integrator2 = ki2*e_int2; |
Gerber | 18:1e4f697a92cb | 477 | |
paulineoonk | 16:2f89d6e25782 | 478 | |
Gerber | 19:591572f4e4b5 | 479 | double motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 16:2f89d6e25782 | 480 | return motorValue2; |
Gerber | 18:1e4f697a92cb | 481 | |
paulineoonk | 16:2f89d6e25782 | 482 | } |
paulineoonk | 16:2f89d6e25782 | 483 | |
paulineoonk | 16:2f89d6e25782 | 484 | void SetMotor1(double motorValue) |
paulineoonk | 16:2f89d6e25782 | 485 | { |
paulineoonk | 16:2f89d6e25782 | 486 | if (motorValue >= 0) { |
paulineoonk | 16:2f89d6e25782 | 487 | M1D = 0; |
paulineoonk | 16:2f89d6e25782 | 488 | } |
paulineoonk | 16:2f89d6e25782 | 489 | else { |
paulineoonk | 16:2f89d6e25782 | 490 | M1D = 1; |
paulineoonk | 16:2f89d6e25782 | 491 | } |
paulineoonk | 16:2f89d6e25782 | 492 | |
paulineoonk | 16:2f89d6e25782 | 493 | if (fabs(motorValue) > 1) { |
paulineoonk | 16:2f89d6e25782 | 494 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 495 | } |
paulineoonk | 16:2f89d6e25782 | 496 | else { |
paulineoonk | 16:2f89d6e25782 | 497 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 498 | } |
paulineoonk | 16:2f89d6e25782 | 499 | } |
paulineoonk | 16:2f89d6e25782 | 500 | |
paulineoonk | 16:2f89d6e25782 | 501 | void SetMotor2(double motorValue2) |
paulineoonk | 16:2f89d6e25782 | 502 | { |
paulineoonk | 16:2f89d6e25782 | 503 | if (motorValue2 >= 0) { |
Gerber | 18:1e4f697a92cb | 504 | M2D = 1; |
paulineoonk | 16:2f89d6e25782 | 505 | } |
paulineoonk | 16:2f89d6e25782 | 506 | else { |
Gerber | 18:1e4f697a92cb | 507 | M2D = 0; |
paulineoonk | 16:2f89d6e25782 | 508 | } |
paulineoonk | 16:2f89d6e25782 | 509 | |
paulineoonk | 16:2f89d6e25782 | 510 | if (fabs(motorValue2) > 1) { |
paulineoonk | 16:2f89d6e25782 | 511 | M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 512 | } |
paulineoonk | 16:2f89d6e25782 | 513 | else { |
paulineoonk | 16:2f89d6e25782 | 514 | M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 515 | } |
paulineoonk | 16:2f89d6e25782 | 516 | } |
paulineoonk | 16:2f89d6e25782 | 517 | |
paulineoonk | 16:2f89d6e25782 | 518 | void MeasureAndControl(void) |
paulineoonk | 16:2f89d6e25782 | 519 | { |
Gerber | 18:1e4f697a92cb | 520 | SetpointRobot(); |
Gerber | 18:1e4f697a92cb | 521 | // RKI aanroepen |
Gerber | 18:1e4f697a92cb | 522 | RKI(); |
paulineoonk | 16:2f89d6e25782 | 523 | // hier the control of the 1st control system |
Gerber | 18:1e4f697a92cb | 524 | //double refP = GetReferencePosition(); //KOMT UIT RKI |
paulineoonk | 16:2f89d6e25782 | 525 | double Huidigepositie = motor1.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 526 | double error = (refP - Huidigepositie);// make an error |
paulineoonk | 16:2f89d6e25782 | 527 | double motorValue = FeedBackControl(error, e_prev, e_int); |
paulineoonk | 16:2f89d6e25782 | 528 | SetMotor1(motorValue); |
paulineoonk | 16:2f89d6e25782 | 529 | // hier the control of the 2nd control system |
Gerber | 18:1e4f697a92cb | 530 | //double refP2 = GetReferencePosition2(); |
paulineoonk | 16:2f89d6e25782 | 531 | double Huidigepositie2 = motor2.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 532 | double error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 16:2f89d6e25782 | 533 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 16:2f89d6e25782 | 534 | SetMotor2(motorValue2); |
paulineoonk | 16:2f89d6e25782 | 535 | } |
paulineoonk | 16:2f89d6e25782 | 536 | |
paulineoonk | 15:1cfe58aea10d | 537 | void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! |
paulineoonk | 11:b46a4c48c08f | 538 | { |
paulineoonk | 11:b46a4c48c08f | 539 | if (RBF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 540 | goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm? |
paulineoonk | 11:b46a4c48c08f | 541 | } |
paulineoonk | 11:b46a4c48c08f | 542 | if (RTF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 543 | goalx--; |
paulineoonk | 11:b46a4c48c08f | 544 | } |
paulineoonk | 11:b46a4c48c08f | 545 | if (LBF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 546 | goaly++; |
paulineoonk | 11:b46a4c48c08f | 547 | } |
paulineoonk | 11:b46a4c48c08f | 548 | if (LTF>0.3) { |
paulineoonk | 11:b46a4c48c08f | 549 | goaly--; |
paulineoonk | 11:b46a4c48c08f | 550 | } |
paulineoonk | 12:65b8d29bdd5d | 551 | pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly); |
paulineoonk | 11:b46a4c48c08f | 552 | } |
paulineoonk | 7:05c71a859d27 | 553 | |
paulineoonk | 14:a861ba49107c | 554 | void Loop_funtion() |
paulineoonk | 14:a861ba49107c | 555 | { |
paulineoonk | 14:a861ba49107c | 556 | switch(State){ |
paulineoonk | 14:a861ba49107c | 557 | case Cal1: //Calibration motor 1 |
Gerber | 19:591572f4e4b5 | 558 | State=Cal2; |
paulineoonk | 14:a861ba49107c | 559 | // naar achteren bewegen( als voorbeeld Arvid), daarna deze waarde opslaan als offset. Dan bewegen naar home middels PID en verschil encodervalue uiterste stand en home1. |
Gerber | 19:591572f4e4b5 | 560 | /* motorValue1 = 0.1f; motorValue2=0; |
paulineoonk | 16:2f89d6e25782 | 561 | M2E = fabs(motorValue2); |
paulineoonk | 16:2f89d6e25782 | 562 | M1E = fabs(motorValue1); |
Gerber | 19:591572f4e4b5 | 563 | |
paulineoonk | 14:a861ba49107c | 564 | if (Huidigepositie1== 0) |
paulineoonk | 14:a861ba49107c | 565 | { |
paulineoonk | 16:2f89d6e25782 | 566 | SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,. |
Gerber | 19:591572f4e4b5 | 567 | //if (fabs(Huidigepositie1<0.01) { |
paulineoonk | 15:1cfe58aea10d | 568 | State=Cal2; |
Gerber | 19:591572f4e4b5 | 569 | //} |
paulineoonk | 14:a861ba49107c | 570 | } |
paulineoonk | 14:a861ba49107c | 571 | else { |
paulineoonk | 14:a861ba49107c | 572 | SetMotor1(0); |
paulineoonk | 15:1cfe58aea10d | 573 | Loop_funtion(); |
Gerber | 19:591572f4e4b5 | 574 | }*/ |
paulineoonk | 14:a861ba49107c | 575 | break; |
paulineoonk | 14:a861ba49107c | 576 | |
paulineoonk | 14:a861ba49107c | 577 | case Cal2: //Calibration motor 2 |
Gerber | 19:591572f4e4b5 | 578 | /* if (Huidigepositie2== 0) |
paulineoonk | 14:a861ba49107c | 579 | { |
paulineoonk | 15:1cfe58aea10d | 580 | if (Huidigepositie2<0.01){ |
paulineoonk | 15:1cfe58aea10d | 581 | State=CalEMG; |
paulineoonk | 14:a861ba49107c | 582 | } |
paulineoonk | 14:a861ba49107c | 583 | else { |
paulineoonk | 14:a861ba49107c | 584 | SetMotor2(0); |
paulineoonk | 15:1cfe58aea10d | 585 | Loop_funtion(); |
Gerber | 19:591572f4e4b5 | 586 | } */ |
paulineoonk | 14:a861ba49107c | 587 | break; |
paulineoonk | 14:a861ba49107c | 588 | case CalEMG: // Calibration EMG |
paulineoonk | 15:1cfe58aea10d | 589 | CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. |
paulineoonk | 15:1cfe58aea10d | 590 | State=SelectDevice; |
paulineoonk | 14:a861ba49107c | 591 | break; |
paulineoonk | 14:a861ba49107c | 592 | case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons |
paulineoonk | 15:1cfe58aea10d | 593 | if (button==1) { |
paulineoonk | 15:1cfe58aea10d | 594 | State=EMG; |
paulineoonk | 14:a861ba49107c | 595 | } |
paulineoonk | 15:1cfe58aea10d | 596 | if (button==0) { |
paulineoonk | 15:1cfe58aea10d | 597 | State=Demo; |
paulineoonk | 14:a861ba49107c | 598 | } |
paulineoonk | 14:a861ba49107c | 599 | break; |
paulineoonk | 14:a861ba49107c | 600 | case EMG: //Aansturen met EMG |
paulineoonk | 14:a861ba49107c | 601 | Filteren(); |
paulineoonk | 14:a861ba49107c | 602 | changePosition(); |
paulineoonk | 16:2f89d6e25782 | 603 | //RKI --> output refP van motor |
paulineoonk | 16:2f89d6e25782 | 604 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 605 | break; |
paulineoonk | 15:1cfe58aea10d | 606 | case Demo: // Aansturen met toetsenbord |
paulineoonk | 14:a861ba49107c | 607 | break; |
paulineoonk | 15:1cfe58aea10d | 608 | } |
paulineoonk | 14:a861ba49107c | 609 | } |
Miriam | 0:d5fb29bc0847 | 610 | |
paulineoonk | 15:1cfe58aea10d | 611 | /*void Tickerfunctie() |
paulineoonk | 8:c4ec359af35d | 612 | { |
paulineoonk | 13:3351f4374885 | 613 | //if(caldone == false) |
paulineoonk | 13:3351f4374885 | 614 | //{ |
paulineoonk | 12:65b8d29bdd5d | 615 | pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB); |
paulineoonk | 11:b46a4c48c08f | 616 | pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration); |
paulineoonk | 10:518a8617c86e | 617 | pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT); |
paulineoonk | 10:518a8617c86e | 618 | pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT); |
paulineoonk | 13:3351f4374885 | 619 | //} |
paulineoonk | 8:c4ec359af35d | 620 | } |
paulineoonk | 15:1cfe58aea10d | 621 | */ |
Gerber | 19:591572f4e4b5 | 622 | int main()//deze moet ooit nog weg --> pas op voor errors |
Miriam | 0:d5fb29bc0847 | 623 | { |
paulineoonk | 7:05c71a859d27 | 624 | //voor EMG filteren |
paulineoonk | 10:518a8617c86e | 625 | //Left Bicep |
paulineoonk | 9:285499f48cdd | 626 | NFLB.add( &N1LB ); |
paulineoonk | 10:518a8617c86e | 627 | HPFLB.add( &HP1LB ).add( &HP2LB ); |
paulineoonk | 9:285499f48cdd | 628 | LPFLB.add( &LP1LB ).add( &LP2LB ); |
paulineoonk | 9:285499f48cdd | 629 | |
paulineoonk | 10:518a8617c86e | 630 | //Right Bicep |
paulineoonk | 10:518a8617c86e | 631 | NFRB.add( &N1RB ); |
paulineoonk | 10:518a8617c86e | 632 | HPFRB.add( &HP1RB ).add( &HP2RB ); |
paulineoonk | 10:518a8617c86e | 633 | LPFRB.add( &LP1RB ).add( &LP2RB ); |
paulineoonk | 9:285499f48cdd | 634 | |
paulineoonk | 10:518a8617c86e | 635 | //Left Tricep |
paulineoonk | 10:518a8617c86e | 636 | NFLT.add( &N1LT ); |
paulineoonk | 10:518a8617c86e | 637 | HPFLT.add( &HP1LT ).add( &HP2LT ); |
paulineoonk | 10:518a8617c86e | 638 | LPFLT.add( &LP1LT ).add( &LP2LT ); |
paulineoonk | 10:518a8617c86e | 639 | |
paulineoonk | 10:518a8617c86e | 640 | //Right Tricep |
paulineoonk | 10:518a8617c86e | 641 | NFRT.add( &N1RT ); |
paulineoonk | 10:518a8617c86e | 642 | HPFRT.add( &HP1RT ).add( &HP2RT ); |
paulineoonk | 10:518a8617c86e | 643 | LPFRT.add( &LP1RT ).add( &LP2RT ); |
paulineoonk | 3:36e706d6b3d2 | 644 | |
paulineoonk | 7:05c71a859d27 | 645 | //voor serial |
paulineoonk | 7:05c71a859d27 | 646 | pc.baud(115200); |
paulineoonk | 7:05c71a859d27 | 647 | |
paulineoonk | 7:05c71a859d27 | 648 | //motor |
paulineoonk | 8:c4ec359af35d | 649 | // M1E.period(PwmPeriod); //set PWMposition at 5000hz |
paulineoonk | 7:05c71a859d27 | 650 | //Ticker |
paulineoonk | 15:1cfe58aea10d | 651 | //Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
paulineoonk | 3:36e706d6b3d2 | 652 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
paulineoonk | 15:1cfe58aea10d | 653 | // printer.attach(Tickerfunctie,0.4); |
paulineoonk | 14:a861ba49107c | 654 | |
paulineoonk | 14:a861ba49107c | 655 | //State Machine |
paulineoonk | 14:a861ba49107c | 656 | State = Cal1; |
paulineoonk | 14:a861ba49107c | 657 | Position_controller_on = false; |
paulineoonk | 15:1cfe58aea10d | 658 | Treecko.attach(&Loop_funtion, looptime); |
paulineoonk | 3:36e706d6b3d2 | 659 | while(true) |
paulineoonk | 16:2f89d6e25782 | 660 | { } |
paulineoonk | 3:36e706d6b3d2 | 661 | |
paulineoonk | 16:2f89d6e25782 | 662 | //is deze wel nodig? |
paulineoonk | 16:2f89d6e25782 | 663 | } |