State Machine, bezig met mooimaken
Dependencies: Encoder HIDScope MODSERIAL biquadFilter mbed
Fork of vanEMGnaarMOTORPauline_States_nacht by
main.cpp@27:2d9f172c66ad, 2017-11-06 (annotated)
- Committer:
- Gerber
- Date:
- Mon Nov 06 14:57:15 2017 +0000
- Revision:
- 27:2d9f172c66ad
- Parent:
- 26:bfb1ae203c11
- Child:
- 28:19cccdd68b5b
State Machine mooi maken
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 | 27:2d9f172c66ad | 8 | //State Machine and calibration |
Gerber | 27:2d9f172c66ad | 9 | enum States {CalEMG, SelectDevice, EMG, Rest, Demonstration}; |
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; |
Gerber | 18:1e4f697a92cb | 14 | DigitalIn button (D1); |
paulineoonk | 15:1cfe58aea10d | 15 | |
paulineoonk | 15:1cfe58aea10d | 16 | //Encoder/motor |
paulineoonk | 15:1cfe58aea10d | 17 | double Huidigepositie1; |
paulineoonk | 15:1cfe58aea10d | 18 | double Huidigepositie2; |
paulineoonk | 15:1cfe58aea10d | 19 | double motorValue1; |
paulineoonk | 15:1cfe58aea10d | 20 | double motorValue2; |
paulineoonk | 14:a861ba49107c | 21 | |
Gerber | 27:2d9f172c66ad | 22 | //global variables Motor |
Gerber | 27:2d9f172c66ad | 23 | Ticker Treecko; //We make an awesome ticker for our control system |
paulineoonk | 8:c4ec359af35d | 24 | Ticker printer; |
paulineoonk | 16:2f89d6e25782 | 25 | PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed |
paulineoonk | 16:2f89d6e25782 | 26 | PwmOut M2E(D5); |
paulineoonk | 16:2f89d6e25782 | 27 | DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control |
paulineoonk | 16:2f89d6e25782 | 28 | Encoder motor1(D13,D12,true); |
paulineoonk | 16:2f89d6e25782 | 29 | Encoder motor2(D9,D8,true); |
paulineoonk | 16:2f89d6e25782 | 30 | DigitalOut M2D(D4); |
Miriam | 0:d5fb29bc0847 | 31 | |
Gerber | 27:2d9f172c66ad | 32 | //Demonstration |
paulineoonk | 16:2f89d6e25782 | 33 | AnalogIn potMeter2(A1); |
paulineoonk | 16:2f89d6e25782 | 34 | AnalogIn potMeter1(A2); |
paulineoonk | 16:2f89d6e25782 | 35 | |
paulineoonk | 3:36e706d6b3d2 | 36 | MODSERIAL pc(USBTX,USBRX); |
paulineoonk | 3:36e706d6b3d2 | 37 | |
paulineoonk | 16:2f89d6e25782 | 38 | double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde) |
Gerber | 20:14edaecd7413 | 39 | const double Ts = 0.002f; // tickettijd/ sample time |
paulineoonk | 16:2f89d6e25782 | 40 | double e_prev = 0; |
paulineoonk | 16:2f89d6e25782 | 41 | double e_int = 0; |
paulineoonk | 16:2f89d6e25782 | 42 | double e_prev2 = 0; |
paulineoonk | 16:2f89d6e25782 | 43 | double e_int2 = 0; |
paulineoonk | 16:2f89d6e25782 | 44 | |
paulineoonk | 6:e0e5da2c068f | 45 | double tijdstap = 0.002; |
paulineoonk | 8:c4ec359af35d | 46 | volatile double LBF; |
paulineoonk | 8:c4ec359af35d | 47 | volatile double RBF; |
paulineoonk | 8:c4ec359af35d | 48 | volatile double LTF; |
paulineoonk | 8:c4ec359af35d | 49 | volatile double RTF; |
Miriam | 0:d5fb29bc0847 | 50 | |
paulineoonk | 7:05c71a859d27 | 51 | //buttons en leds voor calibration |
paulineoonk | 7:05c71a859d27 | 52 | DigitalIn button1(PTA4); |
paulineoonk | 9:285499f48cdd | 53 | |
Gerber | 18:1e4f697a92cb | 54 | DigitalOut led(D2); |
paulineoonk | 8:c4ec359af35d | 55 | |
paulineoonk | 10:518a8617c86e | 56 | //MVC for calibration |
paulineoonk | 10:518a8617c86e | 57 | double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0; |
paulineoonk | 10:518a8617c86e | 58 | //MEAN for calibration - rest |
paulineoonk | 10:518a8617c86e | 59 | double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0; |
paulineoonk | 9:285499f48cdd | 60 | |
paulineoonk | 10:518a8617c86e | 61 | double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ; |
paulineoonk | 10:518a8617c86e | 62 | double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT; |
paulineoonk | 10:518a8617c86e | 63 | |
paulineoonk | 8:c4ec359af35d | 64 | |
paulineoonk | 7:05c71a859d27 | 65 | bool caldone = false; |
paulineoonk | 8:c4ec359af35d | 66 | int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample |
paulineoonk | 8:c4ec359af35d | 67 | |
paulineoonk | 9:285499f48cdd | 68 | int Timescalibration = 0; |
paulineoonk | 10:518a8617c86e | 69 | int TimescalibrationREST = 0; |
paulineoonk | 10:518a8617c86e | 70 | |
Gerber | 27:2d9f172c66ad | 71 | // Filters |
Gerber | 27:2d9f172c66ad | 72 | // Biquad filters voor Left Biceps (LB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 73 | BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 74 | BiQuadChain NFLB; |
paulineoonk | 9:285499f48cdd | 75 | BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 76 | BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 77 | BiQuadChain HPFLB; |
paulineoonk | 9:285499f48cdd | 78 | BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 79 | BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 80 | BiQuadChain LPFLB; |
paulineoonk | 9:285499f48cdd | 81 | |
Gerber | 27:2d9f172c66ad | 82 | // Biquad filters voor Right Biceps (RB): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 83 | BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 84 | BiQuadChain NFRB; |
paulineoonk | 9:285499f48cdd | 85 | BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 86 | BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 87 | BiQuadChain HPFRB; |
paulineoonk | 9:285499f48cdd | 88 | BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 89 | BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 90 | BiQuadChain LPFRB; |
paulineoonk | 9:285499f48cdd | 91 | |
Gerber | 27:2d9f172c66ad | 92 | // Biquad filters voor Left Triceps (LT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 93 | BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 94 | BiQuadChain NFLT; |
paulineoonk | 9:285499f48cdd | 95 | BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 96 | BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 97 | BiQuadChain HPFLT; |
paulineoonk | 9:285499f48cdd | 98 | BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 99 | BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 100 | BiQuadChain LPFLT; |
paulineoonk | 9:285499f48cdd | 101 | |
Gerber | 27:2d9f172c66ad | 102 | // Biquad filters for Right Triceps (RT): Notch, High-pass and Low-pass filter |
paulineoonk | 9:285499f48cdd | 103 | BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 ); |
paulineoonk | 9:285499f48cdd | 104 | BiQuadChain NFRT; |
paulineoonk | 9:285499f48cdd | 105 | BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 106 | BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); |
paulineoonk | 9:285499f48cdd | 107 | BiQuadChain HPFRT; |
paulineoonk | 9:285499f48cdd | 108 | BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 ); |
paulineoonk | 9:285499f48cdd | 109 | BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 ); |
paulineoonk | 9:285499f48cdd | 110 | BiQuadChain LPFRT; |
paulineoonk | 9:285499f48cdd | 111 | |
paulineoonk | 8:c4ec359af35d | 112 | double emgNotchLB; |
paulineoonk | 8:c4ec359af35d | 113 | double emgHPLB; |
paulineoonk | 8:c4ec359af35d | 114 | double emgAbsHPLB; |
paulineoonk | 8:c4ec359af35d | 115 | double emgLPLB; |
paulineoonk | 8:c4ec359af35d | 116 | |
paulineoonk | 8:c4ec359af35d | 117 | double emgNotchRB; |
paulineoonk | 8:c4ec359af35d | 118 | double emgHPRB; |
paulineoonk | 8:c4ec359af35d | 119 | double emgAbsHPRB; |
paulineoonk | 8:c4ec359af35d | 120 | double emgLPRB; |
paulineoonk | 7:05c71a859d27 | 121 | |
paulineoonk | 8:c4ec359af35d | 122 | double emgNotchLT; |
paulineoonk | 8:c4ec359af35d | 123 | double emgHPLT; |
paulineoonk | 8:c4ec359af35d | 124 | double emgAbsHPLT; |
paulineoonk | 8:c4ec359af35d | 125 | double emgLPLT; |
paulineoonk | 7:05c71a859d27 | 126 | |
paulineoonk | 8:c4ec359af35d | 127 | double emgNotchRT; |
paulineoonk | 8:c4ec359af35d | 128 | double emgHPRT; |
paulineoonk | 8:c4ec359af35d | 129 | double emgAbsHPRT; |
paulineoonk | 8:c4ec359af35d | 130 | double emgLPRT; |
Miriam | 0:d5fb29bc0847 | 131 | |
paulineoonk | 3:36e706d6b3d2 | 132 | double f = 500; // frequency |
paulineoonk | 3:36e706d6b3d2 | 133 | double dt = 1/f; // sample frequency |
paulineoonk | 8:c4ec359af35d | 134 | |
paulineoonk | 8:c4ec359af35d | 135 | AnalogIn emgLB(A0); // EMG lezen |
paulineoonk | 8:c4ec359af35d | 136 | AnalogIn emgRB(A1); |
paulineoonk | 8:c4ec359af35d | 137 | AnalogIn emgLT(A2); |
paulineoonk | 8:c4ec359af35d | 138 | AnalogIn emgRT(A3); |
Miriam | 0:d5fb29bc0847 | 139 | |
Gerber | 18:1e4f697a92cb | 140 | // variables RKI |
Gerber | 18:1e4f697a92cb | 141 | double pi = 3.14159265359; |
Gerber | 18:1e4f697a92cb | 142 | double q1 = (pi/2); //Reference position hoek 1 in radiance |
Gerber | 18:1e4f697a92cb | 143 | double q2 = -(pi/2); //Reference position hoek 2 in radiance |
Gerber | 18:1e4f697a92cb | 144 | const double L1 = 0.30; //Length arm 1 in mm |
Gerber | 18:1e4f697a92cb | 145 | const double L2 = 0.38; //Length arm 2 in mm |
Gerber | 18:1e4f697a92cb | 146 | double B1 = 1; //Friction constant motor 1 |
Gerber | 18:1e4f697a92cb | 147 | double B2 = 1; //Friction constant motor 2 |
Gerber | 18:1e4f697a92cb | 148 | double K = 1; //Spring constant movement from end-effector position to setpoint position |
Gerber | 18:1e4f697a92cb | 149 | double Tijd = 1; //Timestep value |
Gerber | 18:1e4f697a92cb | 150 | double Rsx = 0.38; //Reference x-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 151 | double Rsy = 0.30; //Reference y-component of the setpoint radius |
Gerber | 18:1e4f697a92cb | 152 | double refP = 0; //Reference position motor 1 |
Gerber | 26:bfb1ae203c11 | 153 | double refP2 = 0; //Reference position motor 2 |
Gerber | 18:1e4f697a92cb | 154 | double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 155 | double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius |
Gerber | 18:1e4f697a92cb | 156 | double R1x = 0; //The x-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 157 | double R1y = 0; //The y-component of the joint 1 radius |
Gerber | 18:1e4f697a92cb | 158 | double R2x = cos(q1)*L1; //The x-component of the joint 2 radius |
Gerber | 27:2d9f172c66ad | 159 | double R2y = sin(q1)*L1; //The y-component of the joint 2 radius |
Gerber | 18:1e4f697a92cb | 160 | double Fx = 0; |
Gerber | 18:1e4f697a92cb | 161 | double Fy = 0; |
Gerber | 18:1e4f697a92cb | 162 | double Tor1 = 0; |
Gerber | 18:1e4f697a92cb | 163 | double Tor2 = 0; |
Gerber | 18:1e4f697a92cb | 164 | double w1= 0; |
Gerber | 18:1e4f697a92cb | 165 | double w2= 0; |
Gerber | 18:1e4f697a92cb | 166 | |
Gerber | 27:2d9f172c66ad | 167 | |
paulineoonk | 8:c4ec359af35d | 168 | void Filteren() |
Gerber | 27:2d9f172c66ad | 169 | { |
paulineoonk | 10:518a8617c86e | 170 | emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 171 | emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 172 | emgAbsHPLB = abs(emgHPLB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 173 | emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 174 | emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value |
paulineoonk | 10:518a8617c86e | 175 | LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1. |
paulineoonk | 9:285499f48cdd | 176 | |
paulineoonk | 10:518a8617c86e | 177 | emgNotchRB = NFRB.step(emgRB.read()); // Notch filter |
paulineoonk | 10:518a8617c86e | 178 | emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 179 | emgAbsHPRB = abs(emgHPRB); // Take absolute value |
paulineoonk | 10:518a8617c86e | 180 | emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 181 | emgMEANSUBLB = emgLPLB - RESTMEANLB; |
paulineoonk | 9:285499f48cdd | 182 | RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 183 | |
paulineoonk | 10:518a8617c86e | 184 | emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 185 | emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 186 | emgAbsHPLT = abs(emgHPLT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 187 | emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 188 | emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 189 | LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 190 | |
paulineoonk | 10:518a8617c86e | 191 | emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter |
paulineoonk | 10:518a8617c86e | 192 | emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0. |
paulineoonk | 8:c4ec359af35d | 193 | emgAbsHPRT = abs(emgHPRT); // Take absolute value |
paulineoonk | 10:518a8617c86e | 194 | emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope |
paulineoonk | 10:518a8617c86e | 195 | emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value |
paulineoonk | 9:285499f48cdd | 196 | RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor |
paulineoonk | 8:c4ec359af35d | 197 | |
paulineoonk | 8:c4ec359af35d | 198 | //if (emgFiltered >1) |
paulineoonk | 8:c4ec359af35d | 199 | //{ |
paulineoonk | 8:c4ec359af35d | 200 | // emgFiltered=1.00; |
paulineoonk | 8:c4ec359af35d | 201 | //} |
Miriam | 0:d5fb29bc0847 | 202 | } |
paulineoonk | 9:285499f48cdd | 203 | |
paulineoonk | 10:518a8617c86e | 204 | void CalibrationEMG() |
paulineoonk | 7:05c71a859d27 | 205 | { |
Gerber | 20:14edaecd7413 | 206 | pc.printf("Timescalibration = %i \r\n",Timescalibration); |
paulineoonk | 7:05c71a859d27 | 207 | Timescalibration++; |
paulineoonk | 9:285499f48cdd | 208 | |
paulineoonk | 10:518a8617c86e | 209 | if(Timescalibration<2000) |
paulineoonk | 9:285499f48cdd | 210 | { |
Gerber | 27:2d9f172c66ad | 211 | pc.printf("calibration rest EMG \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 212 | led = 1; |
paulineoonk | 10:518a8617c86e | 213 | |
Gerber | 27:2d9f172c66ad | 214 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 215 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 216 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 217 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 218 | emgSUMLB += emgLPLB; //SUM all rest values LB |
paulineoonk | 10:518a8617c86e | 219 | |
Gerber | 27:2d9f172c66ad | 220 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 221 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 222 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 223 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 224 | emgSUMRB += emgLPRB; //SUM all rest values RB |
paulineoonk | 10:518a8617c86e | 225 | |
Gerber | 27:2d9f172c66ad | 226 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 227 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 228 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 229 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 230 | emgSUMLT += emgLPLT; //SUM all rest values LT |
paulineoonk | 10:518a8617c86e | 231 | |
Gerber | 27:2d9f172c66ad | 232 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 233 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 234 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 235 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 236 | emgSUMRT += emgLPRT; //SUM all rest values RT |
paulineoonk | 10:518a8617c86e | 237 | } |
paulineoonk | 10:518a8617c86e | 238 | if(Timescalibration==1999) |
paulineoonk | 10:518a8617c86e | 239 | { |
charloverwijk | 17:dbdbd1edc260 | 240 | led = 0; |
paulineoonk | 10:518a8617c86e | 241 | RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 242 | RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 243 | RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 244 | RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value |
paulineoonk | 10:518a8617c86e | 245 | } |
Gerber | 26:bfb1ae203c11 | 246 | if(Timescalibration>2000 && Timescalibration<3000) |
paulineoonk | 10:518a8617c86e | 247 | { |
Gerber | 20:14edaecd7413 | 248 | pc.printf("maximum linker biceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 249 | led = 1; |
Gerber | 27:2d9f172c66ad | 250 | emgNotchLB = NFLB.step(emgLB.read() ); |
Gerber | 27:2d9f172c66ad | 251 | emgHPLB = HPFLB.step(emgNotchLB); |
Gerber | 27:2d9f172c66ad | 252 | emgAbsHPLB = abs(emgHPLB); |
Gerber | 27:2d9f172c66ad | 253 | emgLPLB = LPFLB.step(emgAbsHPLB); |
Gerber | 27:2d9f172c66ad | 254 | double emgfinalLB = emgLPLB; |
Gerber | 27:2d9f172c66ad | 255 | if (emgfinalLB > MVCLB) |
Gerber | 27:2d9f172c66ad | 256 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 257 | MVCLB = emgfinalLB; |
Gerber | 27:2d9f172c66ad | 258 | } |
paulineoonk | 9:285499f48cdd | 259 | } |
paulineoonk | 9:285499f48cdd | 260 | |
Gerber | 26:bfb1ae203c11 | 261 | if(Timescalibration>3000 && Timescalibration<4000) |
paulineoonk | 9:285499f48cdd | 262 | { |
Gerber | 20:14edaecd7413 | 263 | pc.printf(" maximum rechter biceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 264 | led = 0; |
Gerber | 27:2d9f172c66ad | 265 | emgNotchRB = NFRB.step(emgRB.read()); |
Gerber | 27:2d9f172c66ad | 266 | emgHPRB = HPFRB.step(emgNotchRB); |
Gerber | 27:2d9f172c66ad | 267 | emgAbsHPRB = abs(emgHPRB); |
Gerber | 27:2d9f172c66ad | 268 | emgLPRB = LPFRB.step(emgAbsHPRB); |
Gerber | 27:2d9f172c66ad | 269 | double emgfinalRB = emgLPRB; |
Gerber | 27:2d9f172c66ad | 270 | if (emgfinalRB > MVCRB) |
Gerber | 27:2d9f172c66ad | 271 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 272 | MVCRB = emgfinalRB; |
Gerber | 27:2d9f172c66ad | 273 | } |
paulineoonk | 9:285499f48cdd | 274 | } |
paulineoonk | 9:285499f48cdd | 275 | |
Gerber | 26:bfb1ae203c11 | 276 | if(Timescalibration>4000 && Timescalibration<5000) |
paulineoonk | 9:285499f48cdd | 277 | { |
Gerber | 20:14edaecd7413 | 278 | pc.printf("maximum linker triceps \r\n"); |
charloverwijk | 17:dbdbd1edc260 | 279 | led = 1; |
Gerber | 27:2d9f172c66ad | 280 | emgNotchLT = NFLT.step(emgLT.read() ); |
Gerber | 27:2d9f172c66ad | 281 | emgHPLT = HPFLT.step(emgNotchLT); |
Gerber | 27:2d9f172c66ad | 282 | emgAbsHPLT = abs(emgHPLT); |
Gerber | 27:2d9f172c66ad | 283 | emgLPLT = LPFLT.step(emgAbsHPLT); |
Gerber | 27:2d9f172c66ad | 284 | double emgfinalLT = emgLPLT; |
Gerber | 27:2d9f172c66ad | 285 | if (emgfinalLT > MVCLT) |
Gerber | 27:2d9f172c66ad | 286 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 287 | MVCLT = emgfinalLT; |
Gerber | 27:2d9f172c66ad | 288 | } |
paulineoonk | 9:285499f48cdd | 289 | } |
paulineoonk | 9:285499f48cdd | 290 | |
Gerber | 26:bfb1ae203c11 | 291 | if(Timescalibration>5000 && Timescalibration<6000) |
paulineoonk | 9:285499f48cdd | 292 | { |
Gerber | 20:14edaecd7413 | 293 | pc.printf("maximum rechter triceps"); |
Gerber | 27:2d9f172c66ad | 294 | emgNotchRT = NFRT.step(emgRT.read() ); |
Gerber | 27:2d9f172c66ad | 295 | emgHPRT = HPFRT.step(emgNotchRT); |
Gerber | 27:2d9f172c66ad | 296 | emgAbsHPRT = abs(emgHPRT); |
Gerber | 27:2d9f172c66ad | 297 | emgLPRT = LPFRT.step(emgAbsHPRT); |
Gerber | 27:2d9f172c66ad | 298 | double emgfinalRT = emgLPRT; |
Gerber | 27:2d9f172c66ad | 299 | if (emgfinalRT > MVCRT) |
Gerber | 27:2d9f172c66ad | 300 | { //determine what the highest reachable emg signal is |
Gerber | 27:2d9f172c66ad | 301 | MVCRT = emgfinalRT; |
Gerber | 27:2d9f172c66ad | 302 | } |
paulineoonk | 9:285499f48cdd | 303 | } |
paulineoonk | 9:285499f48cdd | 304 | |
Gerber | 26:bfb1ae203c11 | 305 | if(Timescalibration>6000) |
paulineoonk | 7:05c71a859d27 | 306 | { |
Gerber | 20:14edaecd7413 | 307 | pc.printf("calibratie afgelopen"); |
Gerber | 20:14edaecd7413 | 308 | State = SelectDevice; |
paulineoonk | 7:05c71a859d27 | 309 | } |
Gerber | 27:2d9f172c66ad | 310 | |
paulineoonk | 7:05c71a859d27 | 311 | } |
paulineoonk | 16:2f89d6e25782 | 312 | |
Gerber | 18:1e4f697a92cb | 313 | void RKI() |
Gerber | 18:1e4f697a92cb | 314 | { |
Gerber | 18:1e4f697a92cb | 315 | Rex = cos(q1)*L1 - sin(q2)*L2; |
Gerber | 18:1e4f697a92cb | 316 | Rey = sin(q1)*L1 + cos(q2)*L2; |
Gerber | 18:1e4f697a92cb | 317 | R2x = cos(q1)*L1; |
Gerber | 18:1e4f697a92cb | 318 | R2y = sin(q1)*L1; |
Gerber | 18:1e4f697a92cb | 319 | Fx = (Rsx-Rex)*K; |
Gerber | 18:1e4f697a92cb | 320 | Fy = (Rsy-Rey)*K; |
Gerber | 18:1e4f697a92cb | 321 | Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 322 | Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx; |
Gerber | 18:1e4f697a92cb | 323 | w1 = Tor1/B1; |
Gerber | 18:1e4f697a92cb | 324 | w2 = Tor2/B2; |
Gerber | 18:1e4f697a92cb | 325 | q1 = q1 + w1*Tijd; |
Gerber | 18:1e4f697a92cb | 326 | q2 = q2 + w2*Tijd; |
Gerber | 18:1e4f697a92cb | 327 | |
Gerber | 18:1e4f697a92cb | 328 | int maxwaarde = 4096; // = 64x64 |
Gerber | 18:1e4f697a92cb | 329 | refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde; |
Gerber | 26:bfb1ae203c11 | 330 | refP2 = (( q1 + q2)/(2*pi))*maxwaarde; //Get reference positions was eerst 0.5*pi |
Gerber | 18:1e4f697a92cb | 331 | } |
Gerber | 18:1e4f697a92cb | 332 | |
Gerber | 18:1e4f697a92cb | 333 | void SetpointRobot() |
Gerber | 18:1e4f697a92cb | 334 | { |
Gerber | 18:1e4f697a92cb | 335 | double Potmeterwaarde2 = potMeter2.read(); |
Gerber | 18:1e4f697a92cb | 336 | double Potmeterwaarde1 = potMeter1.read(); |
Gerber | 18:1e4f697a92cb | 337 | |
Gerber | 18:1e4f697a92cb | 338 | if (Potmeterwaarde2>0.6) { |
Gerber | 18:1e4f697a92cb | 339 | Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 340 | } |
Gerber | 18:1e4f697a92cb | 341 | else if (Potmeterwaarde2<0.4) { |
Gerber | 18:1e4f697a92cb | 342 | Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat |
Gerber | 18:1e4f697a92cb | 343 | } |
Gerber | 18:1e4f697a92cb | 344 | else { //de x-waarde van de setpoint verandert niet |
Gerber | 27:2d9f172c66ad | 345 | } |
Gerber | 18:1e4f697a92cb | 346 | |
Gerber | 18:1e4f697a92cb | 347 | if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat |
Gerber | 18:1e4f697a92cb | 348 | Rsy += 0.001; |
Gerber | 18:1e4f697a92cb | 349 | } |
Gerber | 18:1e4f697a92cb | 350 | else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 |
Gerber | 18:1e4f697a92cb | 351 | Rsy -= 0.001; |
Gerber | 18:1e4f697a92cb | 352 | } |
Gerber | 18:1e4f697a92cb | 353 | else { //de y-waarde van de setpoint verandert niet |
Gerber | 27:2d9f172c66ad | 354 | } |
Gerber | 18:1e4f697a92cb | 355 | } |
Gerber | 18:1e4f697a92cb | 356 | |
paulineoonk | 16:2f89d6e25782 | 357 | double GetReferencePosition() |
paulineoonk | 16:2f89d6e25782 | 358 | { |
paulineoonk | 16:2f89d6e25782 | 359 | double Potmeterwaarde = potMeter2.read(); //naam moet universeel worden |
paulineoonk | 16:2f89d6e25782 | 360 | int maxwaarde = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 361 | double refP = Potmeterwaarde*maxwaarde; |
paulineoonk | 16:2f89d6e25782 | 362 | return refP; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 363 | } |
paulineoonk | 16:2f89d6e25782 | 364 | |
paulineoonk | 16:2f89d6e25782 | 365 | double GetReferencePosition2() |
paulineoonk | 16:2f89d6e25782 | 366 | { |
paulineoonk | 16:2f89d6e25782 | 367 | double potmeterwaarde2 = potMeter1.read(); |
paulineoonk | 16:2f89d6e25782 | 368 | int maxwaarde2 = 4096; // = 64x64 |
paulineoonk | 16:2f89d6e25782 | 369 | double refP2 = potmeterwaarde2*maxwaarde2; |
paulineoonk | 16:2f89d6e25782 | 370 | return refP2; // value between 0 and 4096 |
paulineoonk | 16:2f89d6e25782 | 371 | } |
Gerber | 18:1e4f697a92cb | 372 | |
Gerber | 19:591572f4e4b5 | 373 | 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 | 374 | { |
Gerber | 19:591572f4e4b5 | 375 | double kp = 0.0015; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 376 | double Proportional= kp*error; |
paulineoonk | 16:2f89d6e25782 | 377 | |
Gerber | 19:591572f4e4b5 | 378 | double kd = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 379 | double VelocityError = (error - e_prev)/Ts; |
Gerber | 19:591572f4e4b5 | 380 | double Derivative = kd*VelocityError; |
paulineoonk | 16:2f89d6e25782 | 381 | e_prev = error; |
paulineoonk | 16:2f89d6e25782 | 382 | |
Gerber | 19:591572f4e4b5 | 383 | double ki = 0.0001; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 384 | e_int = e_int+Ts*error; |
Gerber | 19:591572f4e4b5 | 385 | double Integrator = ki*e_int; |
paulineoonk | 16:2f89d6e25782 | 386 | |
Gerber | 19:591572f4e4b5 | 387 | double motorValue = Proportional + Integrator + Derivative; |
paulineoonk | 16:2f89d6e25782 | 388 | return motorValue; |
paulineoonk | 16:2f89d6e25782 | 389 | } |
paulineoonk | 16:2f89d6e25782 | 390 | |
Gerber | 19:591572f4e4b5 | 391 | 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 | 392 | { |
Gerber | 19:591572f4e4b5 | 393 | double kp2 = 0.002; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 394 | double Proportional2= kp2*error2; |
paulineoonk | 16:2f89d6e25782 | 395 | |
Gerber | 19:591572f4e4b5 | 396 | double kd2 = 0.000008; // kind of scaled. |
Gerber | 19:591572f4e4b5 | 397 | double VelocityError2 = (error2 - e_prev2)/Ts; |
Gerber | 19:591572f4e4b5 | 398 | double Derivative2 = kd2*VelocityError2; |
paulineoonk | 16:2f89d6e25782 | 399 | e_prev2 = error2; |
paulineoonk | 16:2f89d6e25782 | 400 | |
Gerber | 19:591572f4e4b5 | 401 | double ki2 = 0.00005; // kind of scaled. |
paulineoonk | 16:2f89d6e25782 | 402 | e_int2 = e_int2+Ts*error2; |
Gerber | 19:591572f4e4b5 | 403 | double Integrator2 = ki2*e_int2; |
Gerber | 18:1e4f697a92cb | 404 | |
Gerber | 19:591572f4e4b5 | 405 | double motorValue2 = Proportional2 + Integrator2 + Derivative2; |
paulineoonk | 16:2f89d6e25782 | 406 | return motorValue2; |
paulineoonk | 16:2f89d6e25782 | 407 | } |
paulineoonk | 16:2f89d6e25782 | 408 | |
paulineoonk | 16:2f89d6e25782 | 409 | void SetMotor1(double motorValue) |
paulineoonk | 16:2f89d6e25782 | 410 | { |
paulineoonk | 16:2f89d6e25782 | 411 | if (motorValue >= 0) { |
paulineoonk | 16:2f89d6e25782 | 412 | M1D = 0; |
paulineoonk | 16:2f89d6e25782 | 413 | } |
paulineoonk | 16:2f89d6e25782 | 414 | else { |
paulineoonk | 16:2f89d6e25782 | 415 | M1D = 1; |
paulineoonk | 16:2f89d6e25782 | 416 | } |
paulineoonk | 16:2f89d6e25782 | 417 | if (fabs(motorValue) > 1) { |
paulineoonk | 16:2f89d6e25782 | 418 | M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 419 | } |
paulineoonk | 16:2f89d6e25782 | 420 | else { |
paulineoonk | 16:2f89d6e25782 | 421 | M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 422 | } |
paulineoonk | 16:2f89d6e25782 | 423 | } |
paulineoonk | 16:2f89d6e25782 | 424 | |
paulineoonk | 16:2f89d6e25782 | 425 | void SetMotor2(double motorValue2) |
paulineoonk | 16:2f89d6e25782 | 426 | { |
paulineoonk | 16:2f89d6e25782 | 427 | if (motorValue2 >= 0) { |
Gerber | 18:1e4f697a92cb | 428 | M2D = 1; |
paulineoonk | 16:2f89d6e25782 | 429 | } |
paulineoonk | 16:2f89d6e25782 | 430 | else { |
Gerber | 18:1e4f697a92cb | 431 | M2D = 0; |
paulineoonk | 16:2f89d6e25782 | 432 | } |
paulineoonk | 16:2f89d6e25782 | 433 | if (fabs(motorValue2) > 1) { |
paulineoonk | 16:2f89d6e25782 | 434 | M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1) |
paulineoonk | 16:2f89d6e25782 | 435 | } |
paulineoonk | 16:2f89d6e25782 | 436 | else { |
paulineoonk | 16:2f89d6e25782 | 437 | M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0 |
paulineoonk | 16:2f89d6e25782 | 438 | } |
paulineoonk | 16:2f89d6e25782 | 439 | } |
paulineoonk | 16:2f89d6e25782 | 440 | |
paulineoonk | 16:2f89d6e25782 | 441 | void MeasureAndControl(void) |
paulineoonk | 16:2f89d6e25782 | 442 | { |
Gerber | 25:1c17ab3967c4 | 443 | //SetpointRobot(); |
Gerber | 18:1e4f697a92cb | 444 | // RKI aanroepen |
Gerber | 18:1e4f697a92cb | 445 | RKI(); |
Gerber | 27:2d9f172c66ad | 446 | // control of 1st motor |
Gerber | 18:1e4f697a92cb | 447 | //double refP = GetReferencePosition(); //KOMT UIT RKI |
paulineoonk | 16:2f89d6e25782 | 448 | double Huidigepositie = motor1.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 449 | double error = (refP - Huidigepositie);// make an error |
paulineoonk | 16:2f89d6e25782 | 450 | double motorValue = FeedBackControl(error, e_prev, e_int); |
paulineoonk | 16:2f89d6e25782 | 451 | SetMotor1(motorValue); |
Gerber | 27:2d9f172c66ad | 452 | // control of 2nd motor |
Gerber | 18:1e4f697a92cb | 453 | //double refP2 = GetReferencePosition2(); |
paulineoonk | 16:2f89d6e25782 | 454 | double Huidigepositie2 = motor2.getPosition(); |
paulineoonk | 16:2f89d6e25782 | 455 | double error2 = (refP2 - Huidigepositie2);// make an error |
paulineoonk | 16:2f89d6e25782 | 456 | double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2); |
paulineoonk | 16:2f89d6e25782 | 457 | SetMotor2(motorValue2); |
Gerber | 20:14edaecd7413 | 458 | 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 | 459 | } |
paulineoonk | 16:2f89d6e25782 | 460 | |
paulineoonk | 15:1cfe58aea10d | 461 | void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!! |
paulineoonk | 11:b46a4c48c08f | 462 | { |
Gerber | 25:1c17ab3967c4 | 463 | if (RBF>0.6) { |
Gerber | 25:1c17ab3967c4 | 464 | Rsx +=0.001; // hoe veel verder gaat hij? 1 cm? 10 cm? |
paulineoonk | 11:b46a4c48c08f | 465 | } |
Gerber | 26:bfb1ae203c11 | 466 | else {} |
Gerber | 25:1c17ab3967c4 | 467 | if (RTF>0.6) { |
Gerber | 25:1c17ab3967c4 | 468 | Rsx -=0.001; |
paulineoonk | 11:b46a4c48c08f | 469 | } |
Gerber | 26:bfb1ae203c11 | 470 | else {} |
Gerber | 25:1c17ab3967c4 | 471 | if (LBF>0.6) { |
Gerber | 25:1c17ab3967c4 | 472 | Rsy +=0.001; |
paulineoonk | 11:b46a4c48c08f | 473 | } |
Gerber | 26:bfb1ae203c11 | 474 | else {} |
Gerber | 25:1c17ab3967c4 | 475 | if (LTF>0.6) { |
Gerber | 25:1c17ab3967c4 | 476 | Rsy -=0.001; |
paulineoonk | 11:b46a4c48c08f | 477 | } |
Gerber | 26:bfb1ae203c11 | 478 | else {} |
paulineoonk | 12:65b8d29bdd5d | 479 | pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly); |
paulineoonk | 11:b46a4c48c08f | 480 | } |
paulineoonk | 7:05c71a859d27 | 481 | |
paulineoonk | 14:a861ba49107c | 482 | void Loop_funtion() |
paulineoonk | 14:a861ba49107c | 483 | { |
Gerber | 20:14edaecd7413 | 484 | pc.printf("state machine begint \r\n"); |
Gerber | 27:2d9f172c66ad | 485 | switch(State) |
Gerber | 27:2d9f172c66ad | 486 | { |
paulineoonk | 14:a861ba49107c | 487 | case CalEMG: // Calibration EMG |
paulineoonk | 15:1cfe58aea10d | 488 | CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered. |
paulineoonk | 14:a861ba49107c | 489 | break; |
paulineoonk | 14:a861ba49107c | 490 | case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons |
Gerber | 24:847321a23e60 | 491 | State = EMG; |
Gerber | 27:2d9f172c66ad | 492 | if (button==1) { |
paulineoonk | 15:1cfe58aea10d | 493 | State=EMG; |
paulineoonk | 14:a861ba49107c | 494 | } |
Gerber | 27:2d9f172c66ad | 495 | else { // if (button==0) { |
Gerber | 26:bfb1ae203c11 | 496 | State=Demonstration; |
Gerber | 27:2d9f172c66ad | 497 | } |
paulineoonk | 14:a861ba49107c | 498 | break; |
Gerber | 27:2d9f172c66ad | 499 | case EMG: //Control by EMG |
paulineoonk | 14:a861ba49107c | 500 | Filteren(); |
paulineoonk | 14:a861ba49107c | 501 | changePosition(); |
paulineoonk | 16:2f89d6e25782 | 502 | MeasureAndControl(); |
paulineoonk | 14:a861ba49107c | 503 | break; |
Gerber | 27:2d9f172c66ad | 504 | case Rest: // When it is not your turn, the robot shouldn't react on muscle contractions. |
Gerber | 27:2d9f172c66ad | 505 | case Demonstration: // COntrol with potmeters |
paulineoonk | 14:a861ba49107c | 506 | break; |
paulineoonk | 15:1cfe58aea10d | 507 | } |
paulineoonk | 14:a861ba49107c | 508 | } |
Miriam | 0:d5fb29bc0847 | 509 | |
Gerber | 19:591572f4e4b5 | 510 | int main()//deze moet ooit nog weg --> pas op voor errors |
Miriam | 0:d5fb29bc0847 | 511 | { |
paulineoonk | 7:05c71a859d27 | 512 | //voor EMG filteren |
paulineoonk | 10:518a8617c86e | 513 | //Left Bicep |
paulineoonk | 9:285499f48cdd | 514 | NFLB.add( &N1LB ); |
paulineoonk | 10:518a8617c86e | 515 | HPFLB.add( &HP1LB ).add( &HP2LB ); |
paulineoonk | 9:285499f48cdd | 516 | LPFLB.add( &LP1LB ).add( &LP2LB ); |
paulineoonk | 9:285499f48cdd | 517 | |
paulineoonk | 10:518a8617c86e | 518 | //Right Bicep |
paulineoonk | 10:518a8617c86e | 519 | NFRB.add( &N1RB ); |
paulineoonk | 10:518a8617c86e | 520 | HPFRB.add( &HP1RB ).add( &HP2RB ); |
paulineoonk | 10:518a8617c86e | 521 | LPFRB.add( &LP1RB ).add( &LP2RB ); |
paulineoonk | 9:285499f48cdd | 522 | |
paulineoonk | 10:518a8617c86e | 523 | //Left Tricep |
paulineoonk | 10:518a8617c86e | 524 | NFLT.add( &N1LT ); |
paulineoonk | 10:518a8617c86e | 525 | HPFLT.add( &HP1LT ).add( &HP2LT ); |
paulineoonk | 10:518a8617c86e | 526 | LPFLT.add( &LP1LT ).add( &LP2LT ); |
paulineoonk | 10:518a8617c86e | 527 | |
paulineoonk | 10:518a8617c86e | 528 | //Right Tricep |
paulineoonk | 10:518a8617c86e | 529 | NFRT.add( &N1RT ); |
paulineoonk | 10:518a8617c86e | 530 | HPFRT.add( &HP1RT ).add( &HP2RT ); |
paulineoonk | 10:518a8617c86e | 531 | LPFRT.add( &LP1RT ).add( &LP2RT ); |
paulineoonk | 3:36e706d6b3d2 | 532 | |
paulineoonk | 7:05c71a859d27 | 533 | //voor serial |
paulineoonk | 7:05c71a859d27 | 534 | pc.baud(115200); |
Gerber | 20:14edaecd7413 | 535 | pc.printf("begint met programma \r\n"); |
paulineoonk | 7:05c71a859d27 | 536 | |
paulineoonk | 7:05c71a859d27 | 537 | //motor |
Gerber | 20:14edaecd7413 | 538 | M1E.period(PwmPeriod); //set PWMposition at 5000hz |
paulineoonk | 7:05c71a859d27 | 539 | //Ticker |
paulineoonk | 15:1cfe58aea10d | 540 | //Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende |
paulineoonk | 3:36e706d6b3d2 | 541 | //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd. |
paulineoonk | 15:1cfe58aea10d | 542 | // printer.attach(Tickerfunctie,0.4); |
paulineoonk | 14:a861ba49107c | 543 | |
paulineoonk | 14:a861ba49107c | 544 | //State Machine |
Gerber | 24:847321a23e60 | 545 | State = CalEMG; |
paulineoonk | 14:a861ba49107c | 546 | Position_controller_on = false; |
Gerber | 20:14edaecd7413 | 547 | Treecko.attach(&Loop_funtion, Ts); |
paulineoonk | 3:36e706d6b3d2 | 548 | while(true) |
paulineoonk | 16:2f89d6e25782 | 549 | { } |
paulineoonk | 3:36e706d6b3d2 | 550 | |
paulineoonk | 16:2f89d6e25782 | 551 | //is deze wel nodig? |
paulineoonk | 16:2f89d6e25782 | 552 | } |