State Machine, bezig met mooimaken
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Fork of vanEMGnaarMOTORPauline_States_nacht by
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?
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 | 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 | } |