State Machine, bezig met mooimaken
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Fork of vanEMGnaarMOTORPauline_States_nacht by
main.cpp@29:69cc48b3feaa, 2017-11-07 (annotated)
- Committer:
- Gerber
- Date:
- Tue Nov 07 08:52:34 2017 +0000
- Revision:
- 29:69cc48b3feaa
- Parent:
- 28:19cccdd68b5b
- Child:
- 30:b76c27e4730c
Lijkt mooi. Heb volgorde iets verandert.
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 | |
Gerber | 28:19cccdd68b5b | 8 | // Variables |
Gerber | 27:2d9f172c66ad | 9 | //State Machine and calibration |
Gerber | 27:2d9f172c66ad | 10 | enum States {CalEMG, SelectDevice, EMG, Rest, Demonstration}; |
paulineoonk | 15:1cfe58aea10d | 11 | States State; |
paulineoonk | 14:a861ba49107c | 12 | bool Position_controller_on; |
Gerber | 18:1e4f697a92cb | 13 | DigitalIn button (D1); |
paulineoonk | 15:1cfe58aea10d | 14 | |
Gerber | 28:19cccdd68b5b | 15 | //Buttons en leds voor calibration |
Gerber | 28:19cccdd68b5b | 16 | DigitalIn button1(PTA4); |
Gerber | 28:19cccdd68b5b | 17 | DigitalOut led(D2); |
Gerber | 28:19cccdd68b5b | 18 | |
Gerber | 28:19cccdd68b5b | 19 | //MVC for calibration |
Gerber | 28:19cccdd68b5b | 20 | double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; |
Gerber | 28:19cccdd68b5b | 21 | //MEAN for calibration - rest |
Gerber | 28:19cccdd68b5b | 22 | double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; |
Gerber | 28:19cccdd68b5b | 23 | double emgMEANSUBLB; double emgMEANSUBRB; double emgMEANSUBLT; double emgMEANSUBRT; |
Gerber | 28:19cccdd68b5b | 24 | double emgSUMLB; double emgSUMRB; double emgSUMLT; double emgSUMRT; |
Gerber | 28:19cccdd68b5b | 25 | |
Gerber | 28:19cccdd68b5b | 26 | bool caldone = false; |
Gerber | 28:19cccdd68b5b | 27 | int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample |
Gerber | 28:19cccdd68b5b | 28 | |
Gerber | 28:19cccdd68b5b | 29 | int Timescalibration = 0; |
Gerber | 28:19cccdd68b5b | 30 | int TimescalibrationREST = 0; |
Gerber | 28:19cccdd68b5b | 31 | |
Gerber | 28:19cccdd68b5b | 32 | //Encoder and motor |
paulineoonk | 15:1cfe58aea10d | 33 | double Huidigepositie1; |
paulineoonk | 15:1cfe58aea10d | 34 | double Huidigepositie2; |
paulineoonk | 15:1cfe58aea10d | 35 | double motorValue1; |
paulineoonk | 15:1cfe58aea10d | 36 | double motorValue2; |
Gerber | 27:2d9f172c66ad | 37 | Ticker Treecko; //We make an awesome ticker for our control system |
paulineoonk | 16:2f89d6e25782 | 38 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
paulineoonk | 16:2f89d6e25782 | 39 | PwmOut M2E(D5); |
paulineoonk | 16:2f89d6e25782 | 40 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
paulineoonk | 16:2f89d6e25782 | 41 | Encoder motor1(D13,D12,true); |
paulineoonk | 16:2f89d6e25782 | 42 | Encoder motor2(D9,D8,true); |
paulineoonk | 16:2f89d6e25782 | 43 | DigitalOut M2D(D4); |
Gerber | 28:19cccdd68b5b | 44 | double PwmPeriod = 1.0/5000.0; |
Miriam | 0:d5fb29bc0847 | 45 | |
Gerber | 27:2d9f172c66ad | 46 | //Demonstration |
paulineoonk | 16:2f89d6e25782 | 47 | AnalogIn potMeter2(A1); |
paulineoonk | 16:2f89d6e25782 | 48 | AnalogIn potMeter1(A2); |
paulineoonk | 16:2f89d6e25782 | 49 | |
paulineoonk | 3:36e706d6b3d2 | 50 | MODSERIAL pc(USBTX,USBRX); |
paulineoonk | 3:36e706d6b3d2 | 51 | |
Gerber | 28:19cccdd68b5b | 52 | //PID |
Gerber | 20:14edaecd7413 | 53 | const double Ts = 0.002f; // tickettijd/ sample time |
paulineoonk | 16:2f89d6e25782 | 54 | double e_prev = 0; |
paulineoonk | 16:2f89d6e25782 | 55 | double e_int = 0; |
paulineoonk | 16:2f89d6e25782 | 56 | double e_prev2 = 0; |
paulineoonk | 16:2f89d6e25782 | 57 | double e_int2 = 0; |
paulineoonk | 16:2f89d6e25782 | 58 | |
Gerber | 28:19cccdd68b5b | 59 | // EMG and Filters |
Gerber | 27:2d9f172c66ad | 60 | // Biquad filters voor Left Biceps (LB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 61 | BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 62 | BiQuadChain NFLB; |
paulineoonk | 9:285499f48cdd | 63 | BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 64 | BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 65 | BiQuadChain HPFLB; |
paulineoonk | 9:285499f48cdd | 66 | BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 67 | BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 68 | BiQuadChain LPFLB; |
paulineoonk | 9:285499f48cdd | 69 | |
Gerber | 27:2d9f172c66ad | 70 | // Biquad filters voor Right Biceps (RB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 71 | BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 72 | BiQuadChain NFRB; |
paulineoonk | 9:285499f48cdd | 73 | BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 74 | BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 75 | BiQuadChain HPFRB; |
paulineoonk | 9:285499f48cdd | 76 | BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 77 | BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 78 | BiQuadChain LPFRB; |
paulineoonk | 9:285499f48cdd | 79 | |
Gerber | 27:2d9f172c66ad | 80 | // Biquad filters voor Left Triceps (LT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 81 | BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 82 | BiQuadChain NFLT; |
paulineoonk | 9:285499f48cdd | 83 | BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 84 | BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 85 | BiQuadChain HPFLT; |
paulineoonk | 9:285499f48cdd | 86 | BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 87 | BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 88 | BiQuadChain LPFLT; |
paulineoonk | 9:285499f48cdd | 89 | |
Gerber | 27:2d9f172c66ad | 90 | // Biquad filters for Right Triceps (RT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 91 | BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 92 | BiQuadChain NFRT; |
paulineoonk | 9:285499f48cdd | 93 | BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 94 | BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 95 | BiQuadChain HPFRT; |
paulineoonk | 9:285499f48cdd | 96 | BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 97 | BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 98 | BiQuadChain LPFRT; |
paulineoonk | 9:285499f48cdd | 99 | |
paulineoonk | 8:c4ec359af35d | 100 | double emgNotchLB; |
paulineoonk | 8:c4ec359af35d | 101 | double emgHPLB; |
paulineoonk | 8:c4ec359af35d | 102 | double emgAbsHPLB; |
paulineoonk | 8:c4ec359af35d | 103 | double emgLPLB; |
paulineoonk | 8:c4ec359af35d | 104 | |
paulineoonk | 8:c4ec359af35d | 105 | double emgNotchRB; |
paulineoonk | 8:c4ec359af35d | 106 | double emgHPRB; |
paulineoonk | 8:c4ec359af35d | 107 | double emgAbsHPRB; |
paulineoonk | 8:c4ec359af35d | 108 | double emgLPRB; |
paulineoonk | 7:05c71a859d27 | 109 | |
paulineoonk | 8:c4ec359af35d | 110 | double emgNotchLT; |
paulineoonk | 8:c4ec359af35d | 111 | double emgHPLT; |
paulineoonk | 8:c4ec359af35d | 112 | double emgAbsHPLT; |
paulineoonk | 8:c4ec359af35d | 113 | double emgLPLT; |
paulineoonk | 7:05c71a859d27 | 114 | |
paulineoonk | 8:c4ec359af35d | 115 | double emgNotchRT; |
paulineoonk | 8:c4ec359af35d | 116 | double emgHPRT; |
paulineoonk | 8:c4ec359af35d | 117 | double emgAbsHPRT; |
paulineoonk | 8:c4ec359af35d | 118 | double emgLPRT; |
Miriam | 0:d5fb29bc0847 | 119 | |
Gerber | 28:19cccdd68b5b | 120 | AnalogIn emgLB(A0); // read EMG |
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 | |
Gerber | 28:19cccdd68b5b | 125 | volatile double LBF; |
Gerber | 28:19cccdd68b5b | 126 | volatile double RBF; |
Gerber | 28:19cccdd68b5b | 127 | volatile double LTF; |
Gerber | 28:19cccdd68b5b | 128 | volatile double RTF; |
Gerber | 28:19cccdd68b5b | 129 | |
Gerber | 28:19cccdd68b5b | 130 | // RKI |
Gerber | 18:1e4f697a92cb | 131 | double pi = 3.14159265359; |
Gerber | 28:19cccdd68b5b | 132 | double q1 = (pi/2); //Reference position angle 1 in radiance |
Gerber | 28:19cccdd68b5b | 133 | double q2 = -(pi/2); //Reference position angle 2 in radiance |
Gerber | 28:19cccdd68b5b | 134 | const double L1 = 0.30; //Length arm 1 in mm |
Gerber | 28:19cccdd68b5b | 135 | const double L2 = 0.38; //Length arm 2 in mm |
Gerber | 28:19cccdd68b5b | 136 | double B1 = 1; //Friction constant motor 1 |
Gerber | 28:19cccdd68b5b | 137 | double B2 = 1; //Friction constant motor 2 |
Gerber | 28:19cccdd68b5b | 138 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Gerber | 28:19cccdd68b5b | 139 | double Tijd = 1; //Timestep value |
Gerber | 28:19cccdd68b5b | 140 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Gerber | 28:19cccdd68b5b | 141 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Gerber | 28:19cccdd68b5b | 142 | double refP = 0; //Reference position motor 1 |
Gerber | 28:19cccdd68b5b | 143 | double refP2 = 0; //Reference position motor 2 |
Gerber | 18:1e4f697a92cb | 144 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 145 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 146 | double R1x = 0; //The x-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 147 | double R1y = 0; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 148 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Gerber | 27:2d9f172c66ad | 149 | double R2y = sin(q1)*L1; //The y-component of the joint 2 radius |
Gerber | 18:1e4f697a92cb | 150 | double Fx = 0; |
Gerber | 18:1e4f697a92cb | 151 | double Fy = 0; |
Gerber | 18:1e4f697a92cb | 152 | double Tor1 = 0; |
Gerber | 18:1e4f697a92cb | 153 | double Tor2 = 0; |
Gerber | 18:1e4f697a92cb | 154 | double w1= 0; |
Gerber | 18:1e4f697a92cb | 155 | double w2= 0; |
Gerber | 18:1e4f697a92cb | 156 | |
Gerber | 28:19cccdd68b5b | 157 | // Functions |
paulineoonk | 8:c4ec359af35d | 158 | void Filteren() |
Gerber | 27:2d9f172c66ad | 159 | { |
Gerber | 28:19cccdd68b5b | 160 | emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 161 | emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. |
Gerber | 28:19cccdd68b5b | 162 | emgAbsHPLB = abs(emgHPLB); // Take absolute value |
Gerber | 28:19cccdd68b5b | 163 | emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope |
Gerber | 28:19cccdd68b5b | 164 | emgMEANSUBLB = emgLPLB - RESTMEANLB; // Substract the restmean value |
Gerber | 28:19cccdd68b5b | 165 | LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. |
paulineoonk | 9:285499f48cdd | 166 | |
Gerber | 28:19cccdd68b5b | 167 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 28:19cccdd68b5b | 168 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 28:19cccdd68b5b | 169 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 28:19cccdd68b5b | 170 | emgLPRB = LPFRB.step(emgAbsHPRB); |
paulineoonk | 10:518a8617c86e | 171 | emgMEANSUBLB = emgLPLB - RESTMEANLB; |
Gerber | 28:19cccdd68b5b | 172 | RBF = emgLPRB/MVCRB; |
paulineoonk | 8:c4ec359af35d | 173 | |
Gerber | 28:19cccdd68b5b | 174 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 28:19cccdd68b5b | 175 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 28:19cccdd68b5b | 176 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 28:19cccdd68b5b | 177 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 28:19cccdd68b5b | 178 | emgMEANSUBLT = emgLPLT - RESTMEANLT; |
Gerber | 28:19cccdd68b5b | 179 | LTF = emgLPLT/MVCLT; |
paulineoonk | 8:c4ec359af35d | 180 | |
Gerber | 28:19cccdd68b5b | 181 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 28:19cccdd68b5b | 182 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 28:19cccdd68b5b | 183 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 28:19cccdd68b5b | 184 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 28:19cccdd68b5b | 185 | emgMEANSUBRT = emgLPRT - RESTMEANRT; |
Gerber | 28:19cccdd68b5b | 186 | RTF = emgLPRT/MVCRT; |
Miriam | 0:d5fb29bc0847 | 187 | } |
paulineoonk | 9:285499f48cdd | 188 | |
paulineoonk | 10:518a8617c86e | 189 | void CalibrationEMG() |
paulineoonk | 7:05c71a859d27 | 190 | { |
Gerber | 20:14edaecd7413 | 191 | pc.printf("Timescalibration = %i \r\n",Timescalibration); |
paulineoonk | 7:05c71a859d27 | 192 | Timescalibration++; |
paulineoonk | 9:285499f48cdd | 193 | |
paulineoonk | 10:518a8617c86e | 194 | if(Timescalibration<2000) |
paulineoonk | 9:285499f48cdd | 195 | { |
Gerber | 27:2d9f172c66ad | 196 | pc.printf("calibration rest EMG \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 197 | led = 1; |
paulineoonk | 10:518a8617c86e | 198 | |
Gerber | 27:2d9f172c66ad | 199 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 200 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 201 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 202 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 203 | emgSUMLB += emgLPLB; //SUM all rest values LB |
paulineoonk | 10:518a8617c86e | 204 | |
Gerber | 27:2d9f172c66ad | 205 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 206 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 207 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 208 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 209 | emgSUMRB += emgLPRB; //SUM all rest values RB |
paulineoonk | 10:518a8617c86e | 210 | |
Gerber | 27:2d9f172c66ad | 211 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 212 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 213 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 214 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 215 | emgSUMLT += emgLPLT; //SUM all rest values LT |
paulineoonk | 10:518a8617c86e | 216 | |
Gerber | 27:2d9f172c66ad | 217 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 218 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 219 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 220 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 221 | emgSUMRT += emgLPRT; //SUM all rest values RT |
paulineoonk | 10:518a8617c86e | 222 | } |
paulineoonk | 10:518a8617c86e | 223 | if(Timescalibration==1999) |
paulineoonk | 10:518a8617c86e | 224 | { |
charloverwijk | 17:dbdbd1edc260 | 225 | led = 0; |
paulineoonk | 10:518a8617c86e | 226 | RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 227 | RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 228 | RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 229 | RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 230 | } |
Gerber | 26:bfb1ae203c11 | 231 | if(Timescalibration>2000 && Timescalibration<3000) |
paulineoonk | 10:518a8617c86e | 232 | { |
Gerber | 28:19cccdd68b5b | 233 | pc.printf("maximum left biceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 234 | led = 1; |
Gerber | 27:2d9f172c66ad | 235 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 236 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 237 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 238 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 239 | double emgfinalLB = emgLPLB; |
Gerber | 27:2d9f172c66ad | 240 | if (emgfinalLB > MVCLB) |
Gerber | 27:2d9f172c66ad | 241 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 242 | MVCLB = emgfinalLB; |
Gerber | 27:2d9f172c66ad | 243 | } |
paulineoonk | 9:285499f48cdd | 244 | } |
paulineoonk | 9:285499f48cdd | 245 | |
Gerber | 26:bfb1ae203c11 | 246 | if(Timescalibration>3000 && Timescalibration<4000) |
paulineoonk | 9:285499f48cdd | 247 | { |
Gerber | 28:19cccdd68b5b | 248 | pc.printf(" maximum right biceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 249 | led = 0; |
Gerber | 27:2d9f172c66ad | 250 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 251 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 252 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 253 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 254 | double emgfinalRB = emgLPRB; |
Gerber | 27:2d9f172c66ad | 255 | if (emgfinalRB > MVCRB) |
Gerber | 27:2d9f172c66ad | 256 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 257 | MVCRB = emgfinalRB; |
Gerber | 27:2d9f172c66ad | 258 | } |
paulineoonk | 9:285499f48cdd | 259 | } |
paulineoonk | 9:285499f48cdd | 260 | |
Gerber | 26:bfb1ae203c11 | 261 | if(Timescalibration>4000 && Timescalibration<5000) |
paulineoonk | 9:285499f48cdd | 262 | { |
Gerber | 28:19cccdd68b5b | 263 | pc.printf("maximum left triceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 264 | led = 1; |
Gerber | 27:2d9f172c66ad | 265 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 266 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 267 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 268 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 269 | double emgfinalLT = emgLPLT; |
Gerber | 27:2d9f172c66ad | 270 | if (emgfinalLT > MVCLT) |
Gerber | 27:2d9f172c66ad | 271 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 272 | MVCLT = emgfinalLT; |
Gerber | 27:2d9f172c66ad | 273 | } |
paulineoonk | 9:285499f48cdd | 274 | } |
paulineoonk | 9:285499f48cdd | 275 | |
Gerber | 26:bfb1ae203c11 | 276 | if(Timescalibration>5000 && Timescalibration<6000) |
paulineoonk | 9:285499f48cdd | 277 | { |
Gerber | 28:19cccdd68b5b | 278 | pc.printf("maximum right triceps"); |
Gerber | 27:2d9f172c66ad | 279 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 280 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 281 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 282 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 283 | double emgfinalRT = emgLPRT; |
Gerber | 27:2d9f172c66ad | 284 | if (emgfinalRT > MVCRT) |
Gerber | 27:2d9f172c66ad | 285 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 286 | MVCRT = emgfinalRT; |
Gerber | 27:2d9f172c66ad | 287 | } |
paulineoonk | 9:285499f48cdd | 288 | } |
paulineoonk | 9:285499f48cdd | 289 | |
Gerber | 26:bfb1ae203c11 | 290 | if(Timescalibration>6000) |
paulineoonk | 7:05c71a859d27 | 291 | { |
Gerber | 28:19cccdd68b5b | 292 | pc.printf("calibration finished"); |
Gerber | 20:14edaecd7413 | 293 | State = SelectDevice; |
paulineoonk | 7:05c71a859d27 | 294 | } |
paulineoonk | 7:05c71a859d27 | 295 | } |
paulineoonk | 16:2f89d6e25782 | 296 | |
Gerber | 18:1e4f697a92cb | 297 | void RKI() |
Gerber | 18:1e4f697a92cb | 298 | { |
Gerber | 18:1e4f697a92cb | 299 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Gerber | 18:1e4f697a92cb | 300 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Gerber | 18:1e4f697a92cb | 301 | R2x = cos(q1)*L1; |
Gerber | 18:1e4f697a92cb | 302 | R2y = sin(q1)*L1; |
Gerber | 18:1e4f697a92cb | 303 | Fx = (Rsx-Rex)*K; |
Gerber | 18:1e4f697a92cb | 304 | Fy = (Rsy-Rey)*K; |
Gerber | 18:1e4f697a92cb | 305 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 306 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 307 | w1 = Tor1/B1; |
Gerber | 18:1e4f697a92cb | 308 | w2 = Tor2/B2; |
Gerber | 18:1e4f697a92cb | 309 | q1 = q1 + w1*Tijd; |
Gerber | 18:1e4f697a92cb | 310 | q2 = q2 + w2*Tijd; |
Gerber | 18:1e4f697a92cb | 311 | |
Gerber | 18:1e4f697a92cb | 312 | int maxwaarde = 4096; // = 64x64 |
Gerber | 18:1e4f697a92cb | 313 | refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde; |
Gerber | 28:19cccdd68b5b | 314 | refP2 = (( q1 + q2)/(2*pi))*maxwaarde; //Get reference positions |
Gerber | 18:1e4f697a92cb | 315 | } |
Gerber | 18:1e4f697a92cb | 316 | |
Gerber | 18:1e4f697a92cb | 317 | void SetpointRobot() |
Gerber | 18:1e4f697a92cb | 318 | { |
Gerber | 18:1e4f697a92cb | 319 | double Potmeterwaarde2 = potMeter2.read(); |
Gerber | 18:1e4f697a92cb | 320 | double Potmeterwaarde1 = potMeter1.read(); |
Gerber | 18:1e4f697a92cb | 321 | |
Gerber | 18:1e4f697a92cb | 322 | if (Potmeterwaarde2>0.6) { |
Gerber | 28:19cccdd68b5b | 323 | Rsx += 0.001; //increases 1 mm when potmetervalue above 0.6 |
Gerber | 18:1e4f697a92cb | 324 | } |
Gerber | 18:1e4f697a92cb | 325 | else if (Potmeterwaarde2<0.4) { |
Gerber | 28:19cccdd68b5b | 326 | Rsx -= 0.001; //decreases 1 mm when potmetervalue below 0.4 |
Gerber | 18:1e4f697a92cb | 327 | } |
Gerber | 28:19cccdd68b5b | 328 | else { //x value of setpoint doesn't change |
Gerber | 27:2d9f172c66ad | 329 | } |
Gerber | 18:1e4f697a92cb | 330 | |
Gerber | 28:19cccdd68b5b | 331 | if (Potmeterwaarde1>0.6) { //increases 1 mm when potmetervalue above 0.6 |
Gerber | 18:1e4f697a92cb | 332 | Rsy += 0.001; |
Gerber | 18:1e4f697a92cb | 333 | } |
Gerber | 28:19cccdd68b5b | 334 | else if (Potmeterwaarde1<0.4) { //decreases 1 mm when potmetervalue below 0.4 |
Gerber | 18:1e4f697a92cb | 335 | Rsy -= 0.001; |
Gerber | 18:1e4f697a92cb | 336 | } |
Gerber | 28:19cccdd68b5b | 337 | else { //y value of setpoint doesn't change |
Gerber | 27:2d9f172c66ad | 338 | } |
Gerber | 18:1e4f697a92cb | 339 | } |
Gerber | 29:69cc48b3feaa | 340 | |
Gerber | 29:69cc48b3feaa | 341 | void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! |
Gerber | 29:69cc48b3feaa | 342 | { |
Gerber | 29:69cc48b3feaa | 343 | if (RBF>0.5) { |
Gerber | 29:69cc48b3feaa | 344 | Rsx +=0.001; // hoe veel verder gaat hij? 1 cm? 10 cm? |
Gerber | 29:69cc48b3feaa | 345 | } |
Gerber | 29:69cc48b3feaa | 346 | else {} |
Gerber | 29:69cc48b3feaa | 347 | if (RTF>0.5) { |
Gerber | 29:69cc48b3feaa | 348 | Rsx -=0.001; |
Gerber | 29:69cc48b3feaa | 349 | } |
Gerber | 29:69cc48b3feaa | 350 | else {} |
Gerber | 29:69cc48b3feaa | 351 | if (LBF>0.5) { |
Gerber | 29:69cc48b3feaa | 352 | Rsy +=0.001; |
Gerber | 29:69cc48b3feaa | 353 | } |
Gerber | 29:69cc48b3feaa | 354 | else {} |
Gerber | 29:69cc48b3feaa | 355 | if (LTF>0.5) { |
Gerber | 29:69cc48b3feaa | 356 | Rsy -=0.001; |
Gerber | 29:69cc48b3feaa | 357 | } |
Gerber | 29:69cc48b3feaa | 358 | else {} |
Gerber | 29:69cc48b3feaa | 359 | } |
Gerber | 29:69cc48b3feaa | 360 | |
Gerber | 19:591572f4e4b5 | 361 | 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 | 362 | { |
Gerber | 19:591572f4e4b5 | 363 | double kp = 0.0015; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 364 | double Proportional= kp*error; |
paulineoonk | 16:2f89d6e25782 | 365 | |
Gerber | 19:591572f4e4b5 | 366 | double kd = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 367 | double VelocityError = (error - e_prev)/Ts; |
Gerber | 19:591572f4e4b5 | 368 | double Derivative = kd*VelocityError; |
paulineoonk | 16:2f89d6e25782 | 369 | e_prev = error; |
paulineoonk | 16:2f89d6e25782 | 370 | |
Gerber | 19:591572f4e4b5 | 371 | double ki = 0.0001; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 372 | e_int = e_int+Ts*error; |
Gerber | 19:591572f4e4b5 | 373 | double Integrator = ki*e_int; |
paulineoonk | 16:2f89d6e25782 | 374 | |
Gerber | 19:591572f4e4b5 | 375 | double motorValue = Proportional + Integrator + Derivative; |
paulineoonk | 16:2f89d6e25782 | 376 | return motorValue; |
paulineoonk | 16:2f89d6e25782 | 377 | } |
paulineoonk | 16:2f89d6e25782 | 378 | |
Gerber | 19:591572f4e4b5 | 379 | 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 | 380 | { |
Gerber | 19:591572f4e4b5 | 381 | double kp2 = 0.002; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 382 | double Proportional2= kp2*error2; |
paulineoonk | 16:2f89d6e25782 | 383 | |
Gerber | 19:591572f4e4b5 | 384 | double kd2 = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 385 | double VelocityError2 = (error2 - e_prev2)/Ts; |
Gerber | 19:591572f4e4b5 | 386 | double Derivative2 = kd2*VelocityError2; |
paulineoonk | 16:2f89d6e25782 | 387 | e_prev2 = error2; |
paulineoonk | 16:2f89d6e25782 | 388 | |
Gerber | 19:591572f4e4b5 | 389 | double ki2 = 0.00005; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 390 | e_int2 = e_int2+Ts*error2; |
Gerber | 19:591572f4e4b5 | 391 | double Integrator2 = ki2*e_int2; |
Gerber | 18:1e4f697a92cb | 392 | |
Gerber | 19:591572f4e4b5 | 393 | double motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 16:2f89d6e25782 | 394 | return motorValue2; |
paulineoonk | 16:2f89d6e25782 | 395 | } |
paulineoonk | 16:2f89d6e25782 | 396 | |
paulineoonk | 16:2f89d6e25782 | 397 | void SetMotor1(double motorValue) |
paulineoonk | 16:2f89d6e25782 | 398 | { |
paulineoonk | 16:2f89d6e25782 | 399 | if (motorValue >= 0) { |
paulineoonk | 16:2f89d6e25782 | 400 | M1D = 0; |
paulineoonk | 16:2f89d6e25782 | 401 | } |
paulineoonk | 16:2f89d6e25782 | 402 | else { |
paulineoonk | 16:2f89d6e25782 | 403 | M1D = 1; |
paulineoonk | 16:2f89d6e25782 | 404 | } |
paulineoonk | 16:2f89d6e25782 | 405 | if (fabs(motorValue) > 1) { |
Gerber | 28:19cccdd68b5b | 406 | M1E = 1; //velocity downscaled to 8.4 rad/s (= maximum velocity, value = 1) |
paulineoonk | 16:2f89d6e25782 | 407 | } |
paulineoonk | 16:2f89d6e25782 | 408 | else { |
Gerber | 28:19cccdd68b5b | 409 | M1E = fabs(motorValue); //absolute velocity determined, motor is "off" at value of 0 |
paulineoonk | 16:2f89d6e25782 | 410 | } |
paulineoonk | 16:2f89d6e25782 | 411 | } |
paulineoonk | 16:2f89d6e25782 | 412 | |
paulineoonk | 16:2f89d6e25782 | 413 | void SetMotor2(double motorValue2) |
paulineoonk | 16:2f89d6e25782 | 414 | { |
paulineoonk | 16:2f89d6e25782 | 415 | if (motorValue2 >= 0) { |
Gerber | 18:1e4f697a92cb | 416 | M2D = 1; |
paulineoonk | 16:2f89d6e25782 | 417 | } |
paulineoonk | 16:2f89d6e25782 | 418 | else { |
Gerber | 18:1e4f697a92cb | 419 | M2D = 0; |
paulineoonk | 16:2f89d6e25782 | 420 | } |
paulineoonk | 16:2f89d6e25782 | 421 | if (fabs(motorValue2) > 1) { |
Gerber | 28:19cccdd68b5b | 422 | M2E = 1; //velocity downscaled to 8.4 rad/s (= maximum velocity, value = 1) |
paulineoonk | 16:2f89d6e25782 | 423 | } |
paulineoonk | 16:2f89d6e25782 | 424 | else { |
Gerber | 28:19cccdd68b5b | 425 | M2E = fabs(motorValue2); //absolute velocity determined, motor is "off" at value of 0 |
paulineoonk | 16:2f89d6e25782 | 426 | } |
paulineoonk | 16:2f89d6e25782 | 427 | } |
paulineoonk | 16:2f89d6e25782 | 428 | |
paulineoonk | 16:2f89d6e25782 | 429 | void MeasureAndControl(void) |
paulineoonk | 16:2f89d6e25782 | 430 | { |
Gerber | 18:1e4f697a92cb | 431 | RKI(); |
Gerber | 27:2d9f172c66ad | 432 | // control of 1st motor |
paulineoonk | 16:2f89d6e25782 | 433 | double Huidigepositie = motor1.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 434 | double error = (refP - Huidigepositie);// make an error |
paulineoonk | 16:2f89d6e25782 | 435 | double motorValue = FeedBackControl(error, e_prev, e_int); |
paulineoonk | 16:2f89d6e25782 | 436 | SetMotor1(motorValue); |
Gerber | 27:2d9f172c66ad | 437 | // control of 2nd motor |
paulineoonk | 16:2f89d6e25782 | 438 | double Huidigepositie2 = motor2.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 439 | double error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 16:2f89d6e25782 | 440 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 16:2f89d6e25782 | 441 | SetMotor2(motorValue2); |
Gerber | 20:14edaecd7413 | 442 | pc.printf("refP = %f, huidigepos = %f, motorvalue = %f, refP2 = %f, huidigepos2 = %f, motorvalue2 = %f \r\n", refP, Huidigepositie, motorValue, refP2, Huidigepositie2, Huidigepositie2); |
paulineoonk | 16:2f89d6e25782 | 443 | } |
paulineoonk | 7:05c71a859d27 | 444 | |
paulineoonk | 14:a861ba49107c | 445 | void Loop_funtion() |
paulineoonk | 14:a861ba49107c | 446 | { |
Gerber | 20:14edaecd7413 | 447 | pc.printf("state machine begint \r\n"); |
Gerber | 27:2d9f172c66ad | 448 | switch(State) |
Gerber | 27:2d9f172c66ad | 449 | { |
paulineoonk | 14:a861ba49107c | 450 | case CalEMG: // Calibration EMG |
paulineoonk | 15:1cfe58aea10d | 451 | CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. |
paulineoonk | 14:a861ba49107c | 452 | break; |
paulineoonk | 14:a861ba49107c | 453 | case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons |
Gerber | 24:847321a23e60 | 454 | State = EMG; |
Gerber | 27:2d9f172c66ad | 455 | if (button==1) { |
paulineoonk | 15:1cfe58aea10d | 456 | State=EMG; |
paulineoonk | 14:a861ba49107c | 457 | } |
Gerber | 27:2d9f172c66ad | 458 | else { // if (button==0) { |
Gerber | 26:bfb1ae203c11 | 459 | State=Demonstration; |
Gerber | 27:2d9f172c66ad | 460 | } |
paulineoonk | 14:a861ba49107c | 461 | break; |
Gerber | 27:2d9f172c66ad | 462 | case EMG: //Control by EMG |
paulineoonk | 14:a861ba49107c | 463 | Filteren(); |
paulineoonk | 14:a861ba49107c | 464 | changePosition(); |
paulineoonk | 16:2f89d6e25782 | 465 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 466 | break; |
Gerber | 27:2d9f172c66ad | 467 | case Rest: // When it is not your turn, the robot shouldn't react on muscle contractions. |
Gerber | 28:19cccdd68b5b | 468 | case Demonstration: // Control with potmeters |
Gerber | 28:19cccdd68b5b | 469 | SetpointRobot(); |
Gerber | 28:19cccdd68b5b | 470 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 471 | break; |
paulineoonk | 15:1cfe58aea10d | 472 | } |
paulineoonk | 14:a861ba49107c | 473 | } |
Miriam | 0:d5fb29bc0847 | 474 | |
Gerber | 19:591572f4e4b5 | 475 | int main()//deze moet ooit nog weg --> pas op voor errors |
Miriam | 0:d5fb29bc0847 | 476 | { |
paulineoonk | 7:05c71a859d27 | 477 | //voor EMG filteren |
paulineoonk | 10:518a8617c86e | 478 | //Left Bicep |
paulineoonk | 9:285499f48cdd | 479 | NFLB.add( &N1LB ); |
paulineoonk | 10:518a8617c86e | 480 | HPFLB.add( &HP1LB ).add( &HP2LB ); |
paulineoonk | 9:285499f48cdd | 481 | LPFLB.add( &LP1LB ).add( &LP2LB ); |
paulineoonk | 9:285499f48cdd | 482 | |
paulineoonk | 10:518a8617c86e | 483 | //Right Bicep |
paulineoonk | 10:518a8617c86e | 484 | NFRB.add( &N1RB ); |
paulineoonk | 10:518a8617c86e | 485 | HPFRB.add( &HP1RB ).add( &HP2RB ); |
paulineoonk | 10:518a8617c86e | 486 | LPFRB.add( &LP1RB ).add( &LP2RB ); |
paulineoonk | 9:285499f48cdd | 487 | |
paulineoonk | 10:518a8617c86e | 488 | //Left Tricep |
paulineoonk | 10:518a8617c86e | 489 | NFLT.add( &N1LT ); |
paulineoonk | 10:518a8617c86e | 490 | HPFLT.add( &HP1LT ).add( &HP2LT ); |
paulineoonk | 10:518a8617c86e | 491 | LPFLT.add( &LP1LT ).add( &LP2LT ); |
paulineoonk | 10:518a8617c86e | 492 | |
paulineoonk | 10:518a8617c86e | 493 | //Right Tricep |
paulineoonk | 10:518a8617c86e | 494 | NFRT.add( &N1RT ); |
paulineoonk | 10:518a8617c86e | 495 | HPFRT.add( &HP1RT ).add( &HP2RT ); |
paulineoonk | 10:518a8617c86e | 496 | LPFRT.add( &LP1RT ).add( &LP2RT ); |
paulineoonk | 3:36e706d6b3d2 | 497 | |
paulineoonk | 7:05c71a859d27 | 498 | //voor serial |
paulineoonk | 7:05c71a859d27 | 499 | pc.baud(115200); |
Gerber | 20:14edaecd7413 | 500 | pc.printf("begint met programma \r\n"); |
paulineoonk | 7:05c71a859d27 | 501 | |
paulineoonk | 7:05c71a859d27 | 502 | //motor |
Gerber | 20:14edaecd7413 | 503 | M1E.period(PwmPeriod); //set PWMposition at 5000hz |
paulineoonk | 7:05c71a859d27 | 504 | //Ticker |
Gerber | 28:19cccdd68b5b | 505 | //Treecko.attach(MeasureAndControl, Ts); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
paulineoonk | 3:36e706d6b3d2 | 506 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
paulineoonk | 15:1cfe58aea10d | 507 | // printer.attach(Tickerfunctie,0.4); |
paulineoonk | 14:a861ba49107c | 508 | |
paulineoonk | 14:a861ba49107c | 509 | //State Machine |
Gerber | 24:847321a23e60 | 510 | State = CalEMG; |
paulineoonk | 14:a861ba49107c | 511 | Position_controller_on = false; |
Gerber | 20:14edaecd7413 | 512 | Treecko.attach(&Loop_funtion, Ts); |
paulineoonk | 3:36e706d6b3d2 | 513 | while(true) |
paulineoonk | 16:2f89d6e25782 | 514 | { } |
paulineoonk | 3:36e706d6b3d2 | 515 | |
paulineoonk | 16:2f89d6e25782 | 516 | //is deze wel nodig? |
paulineoonk | 16:2f89d6e25782 | 517 | } |