Projectgroep 20 Biorobotics / Mbed 2 deprecated StateMachinemooi

State Machine, bezig met mooimaken

Dependencies:   Encoder HIDScope MODSERIAL biquadFilter mbed

Fork of vanEMGnaarMOTORPauline_States_nacht by Projectgroep 20 Biorobotics

main.cpp@21:9307dc9be4f7, 2017-11-03 (annotated)

Committer:
Gerber
Date:
Fri Nov 03 03:14:33 2017 +0000
Revision:
21:9307dc9be4f7
Parent:
20:14edaecd7413
Child:
22:02a9b5914cc7
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Who changed what in which revision?

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Miriam 0:d5fb29bc0847 1 //libaries
Miriam 0:d5fb29bc0847 2 #include "mbed.h"
Miriam 0:d5fb29bc0847 3 #include "BiQuad.h"
Miriam 0:d5fb29bc0847 4 #include "HIDScope.h"
Miriam 0:d5fb29bc0847 5 #include "encoder.h"
Miriam 0:d5fb29bc0847 6 #include "MODSERIAL.h"
Miriam 0:d5fb29bc0847 7
paulineoonk 15:1cfe58aea10d 8 //State Machine en calibratie
paulineoonk 15:1cfe58aea10d 9 enum States {Cal1, Cal2, CalEMG, SelectDevice, EMG, Rest, Demo};
paulineoonk 15:1cfe58aea10d 10 States State;
paulineoonk 15:1cfe58aea10d 11 int Counter;
paulineoonk 14:a861ba49107c 12 bool Position_controller_on;
paulineoonk 15:1cfe58aea10d 13 double looptime = 0.002f;
paulineoonk 15:1cfe58aea10d 14 double value;
paulineoonk 15:1cfe58aea10d 15 double home1;
Gerber 18:1e4f697a92cb 16 DigitalIn button (D1);
paulineoonk 15:1cfe58aea10d 17
paulineoonk 15:1cfe58aea10d 18 //Encoder/motor
paulineoonk 15:1cfe58aea10d 19 double Huidigepositie1;
paulineoonk 15:1cfe58aea10d 20 double Huidigepositie2;
paulineoonk 15:1cfe58aea10d 21 double motorValue1;
paulineoonk 15:1cfe58aea10d 22 double motorValue2;
paulineoonk 14:a861ba49107c 23
paulineoonk 3:36e706d6b3d2 24 //globalvariables Motor
paulineoonk 3:36e706d6b3d2 25 Ticker Treecko; //We make a awesome ticker for our control system
paulineoonk 8:c4ec359af35d 26 Ticker printer;
paulineoonk 16:2f89d6e25782 27 PwmOut M1E(D6); //Biorobotics Motor 1 PWM control of the speed
paulineoonk 16:2f89d6e25782 28 PwmOut M2E(D5);
paulineoonk 16:2f89d6e25782 29 DigitalOut M1D(D7); //Biorobotics Motor 1 diraction control
paulineoonk 16:2f89d6e25782 30 Encoder motor1(D13,D12,true);
paulineoonk 16:2f89d6e25782 31 Encoder motor2(D9,D8,true);
paulineoonk 16:2f89d6e25782 32 DigitalOut M2D(D4);
Miriam 0:d5fb29bc0847 33
paulineoonk 16:2f89d6e25782 34 //DEMO
paulineoonk 16:2f89d6e25782 35 AnalogIn potMeter2(A1);
paulineoonk 16:2f89d6e25782 36 AnalogIn potMeter1(A2);
paulineoonk 16:2f89d6e25782 37
paulineoonk 3:36e706d6b3d2 38 MODSERIAL pc(USBTX,USBRX);
paulineoonk 3:36e706d6b3d2 39
paulineoonk 16:2f89d6e25782 40 double PwmPeriod = 1.0/5000.0; //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
Gerber 20:14edaecd7413 41 const double Ts = 0.002f; // tickettijd/ sample time
paulineoonk 16:2f89d6e25782 42 double e_prev = 0;
paulineoonk 16:2f89d6e25782 43 double e_int = 0;
paulineoonk 16:2f89d6e25782 44 double e_prev2 = 0;
paulineoonk 16:2f89d6e25782 45 double e_int2 = 0;
paulineoonk 16:2f89d6e25782 46
paulineoonk 6:e0e5da2c068f 47 double tijdstap = 0.002;
paulineoonk 8:c4ec359af35d 48 volatile double LBF;
paulineoonk 8:c4ec359af35d 49 volatile double RBF;
paulineoonk 8:c4ec359af35d 50 volatile double LTF;
paulineoonk 8:c4ec359af35d 51 volatile double RTF;
Miriam 0:d5fb29bc0847 52
paulineoonk 7:05c71a859d27 53 //buttons en leds voor calibration
paulineoonk 7:05c71a859d27 54 DigitalIn button1(PTA4);
paulineoonk 9:285499f48cdd 55
Gerber 18:1e4f697a92cb 56 DigitalOut led(D2);
paulineoonk 8:c4ec359af35d 57
paulineoonk 10:518a8617c86e 58 //MVC for calibration
paulineoonk 10:518a8617c86e 59 double MVCLB = 0; double MVCRB = 0; double MVCLT = 0; double MVCRT = 0;
paulineoonk 10:518a8617c86e 60 //MEAN for calibration - rest
paulineoonk 10:518a8617c86e 61 double RESTMEANLB = 0; double RESTMEANRB =0; double RESTMEANLT = 0; double RESTMEANRT = 0;
paulineoonk 9:285499f48cdd 62
paulineoonk 10:518a8617c86e 63 double emgMEANSUBLB;double emgMEANSUBRB ;double emgMEANSUBLT ;double emgMEANSUBRT ;
paulineoonk 10:518a8617c86e 64 double emgSUMLB;double emgSUMRB;double emgSUMLT;double emgSUMRT;
paulineoonk 10:518a8617c86e 65
paulineoonk 8:c4ec359af35d 66
paulineoonk 7:05c71a859d27 67 bool caldone = false;
paulineoonk 8:c4ec359af35d 68 int CalibrationSample = 1000; //How long will we calibrate? Timersampletime*Calibrationsample
paulineoonk 8:c4ec359af35d 69
paulineoonk 9:285499f48cdd 70 int Timescalibration = 0;
paulineoonk 10:518a8617c86e 71 int TimescalibrationREST = 0;
paulineoonk 10:518a8617c86e 72
Miriam 0:d5fb29bc0847 73
paulineoonk 9:285499f48cdd 74 // Biquad filters voor Left Bicep (LB)
paulineoonk 9:285499f48cdd 75 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 76 BiQuad N1LB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 77 BiQuadChain NFLB;
paulineoonk 9:285499f48cdd 78 BiQuad HP1LB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 79 BiQuad HP2LB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 80 BiQuadChain HPFLB;
paulineoonk 9:285499f48cdd 81 BiQuad LP1LB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 82 BiQuad LP2LB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 83 BiQuadChain LPFLB;
paulineoonk 9:285499f48cdd 84
paulineoonk 9:285499f48cdd 85 // Biquad filters voor Right Bicep (RB)
Miriam 0:d5fb29bc0847 86 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 87 BiQuad N1RB( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 88 BiQuadChain NFRB;
paulineoonk 9:285499f48cdd 89 BiQuad HP1RB( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 90 BiQuad HP2RB( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 91 BiQuadChain HPFRB;
paulineoonk 9:285499f48cdd 92 BiQuad LP1RB( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 93 BiQuad LP2RB( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 94 BiQuadChain LPFRB;
paulineoonk 9:285499f48cdd 95
paulineoonk 9:285499f48cdd 96 // Biquad filters voor Left Tricep (LT)
paulineoonk 9:285499f48cdd 97 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 98 BiQuad N1LT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 99 BiQuadChain NFLT;
paulineoonk 9:285499f48cdd 100 BiQuad HP1LT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 101 BiQuad HP2LT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 102 BiQuadChain HPFLT;
paulineoonk 9:285499f48cdd 103 BiQuad LP1LT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 104 BiQuad LP2LT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 105 BiQuadChain LPFLT;
paulineoonk 9:285499f48cdd 106
paulineoonk 9:285499f48cdd 107 // Biquad filters voor Left Tricep (RT)
paulineoonk 9:285499f48cdd 108 // Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
paulineoonk 9:285499f48cdd 109 BiQuad N1RT( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
paulineoonk 9:285499f48cdd 110 BiQuadChain NFRT;
paulineoonk 9:285499f48cdd 111 BiQuad HP1RT( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 112 BiQuad HP2RT( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 );
paulineoonk 9:285499f48cdd 113 BiQuadChain HPFRT;
paulineoonk 9:285499f48cdd 114 BiQuad LP1RT( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
paulineoonk 9:285499f48cdd 115 BiQuad LP2RT( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
paulineoonk 9:285499f48cdd 116 BiQuadChain LPFRT;
paulineoonk 9:285499f48cdd 117
paulineoonk 15:1cfe58aea10d 118 Timer LooptimeEMG; //moetuiteindelijk weg
paulineoonk 6:e0e5da2c068f 119
paulineoonk 7:05c71a859d27 120 //filters
paulineoonk 8:c4ec359af35d 121 double emgNotchLB;
paulineoonk 8:c4ec359af35d 122 double emgHPLB;
paulineoonk 8:c4ec359af35d 123 double emgAbsHPLB;
paulineoonk 8:c4ec359af35d 124 double emgLPLB;
paulineoonk 8:c4ec359af35d 125
paulineoonk 8:c4ec359af35d 126 double emgNotchRB;
paulineoonk 8:c4ec359af35d 127 double emgHPRB;
paulineoonk 8:c4ec359af35d 128 double emgAbsHPRB;
paulineoonk 8:c4ec359af35d 129 double emgLPRB;
paulineoonk 7:05c71a859d27 130
paulineoonk 8:c4ec359af35d 131 double emgNotchLT;
paulineoonk 8:c4ec359af35d 132 double emgHPLT;
paulineoonk 8:c4ec359af35d 133 double emgAbsHPLT;
paulineoonk 8:c4ec359af35d 134 double emgLPLT;
paulineoonk 7:05c71a859d27 135
paulineoonk 8:c4ec359af35d 136 double emgNotchRT;
paulineoonk 8:c4ec359af35d 137 double emgHPRT;
paulineoonk 8:c4ec359af35d 138 double emgAbsHPRT;
paulineoonk 8:c4ec359af35d 139 double emgLPRT;
Miriam 0:d5fb29bc0847 140
paulineoonk 3:36e706d6b3d2 141 double f = 500; // frequency
paulineoonk 3:36e706d6b3d2 142 double dt = 1/f; // sample frequency
paulineoonk 8:c4ec359af35d 143
paulineoonk 8:c4ec359af35d 144 AnalogIn emgLB(A0); // EMG lezen
paulineoonk 8:c4ec359af35d 145 AnalogIn emgRB(A1);
paulineoonk 8:c4ec359af35d 146 AnalogIn emgLT(A2);
paulineoonk 8:c4ec359af35d 147 AnalogIn emgRT(A3);
Miriam 0:d5fb29bc0847 148
paulineoonk 16:2f89d6e25782 149 //double MVCLB = 0.3;
paulineoonk 16:2f89d6e25782 150 //double MVCRB = 0.3;
paulineoonk 16:2f89d6e25782 151 //double MVCLT = 0.3;
paulineoonk 16:2f89d6e25782 152 //double MVCRT = 0.3;
paulineoonk 8:c4ec359af35d 153
paulineoonk 11:b46a4c48c08f 154 // variabelen changePosition
paulineoonk 11:b46a4c48c08f 155 int goalx, goaly;
paulineoonk 11:b46a4c48c08f 156
Gerber 18:1e4f697a92cb 157 // variables RKI
Gerber 18:1e4f697a92cb 158 double pi = 3.14159265359;
Gerber 18:1e4f697a92cb 159 double q1 = (pi/2); //Reference position hoek 1 in radiance
Gerber 18:1e4f697a92cb 160 double q2 = -(pi/2); //Reference position hoek 2 in radiance
Gerber 18:1e4f697a92cb 161 const double L1 = 0.30; //Length arm 1 in mm
Gerber 18:1e4f697a92cb 162 const double L2 = 0.38; //Length arm 2 in mm
Gerber 18:1e4f697a92cb 163 double B1 = 1; //Friction constant motor 1
Gerber 18:1e4f697a92cb 164 double B2 = 1; //Friction constant motor 2
Gerber 18:1e4f697a92cb 165 double K = 1; //Spring constant movement from end-effector position to setpoint position
Gerber 18:1e4f697a92cb 166 double Tijd = 1; //Timestep value
Gerber 18:1e4f697a92cb 167 double Rsx = 0.38; //Reference x-component of the setpoint radius
Gerber 18:1e4f697a92cb 168 double Rsy = 0.30; //Reference y-component of the setpoint radius
Gerber 18:1e4f697a92cb 169 double refP = 0; //Reference position motor 1
Gerber 18:1e4f697a92cb 170 double refP2 = 0.5*pi; //Reference position motor 2
Gerber 18:1e4f697a92cb 171 double Rex = cos(q1)*L1 - sin(q2)*L2; //The x-component of the end-effector radius
Gerber 18:1e4f697a92cb 172 double Rey = sin(q1)*L1 + cos(q2)*L2; //The y-component of the end-effector radius
Gerber 18:1e4f697a92cb 173 double R1x = 0; //The x-component of the joint 1 radius
Gerber 18:1e4f697a92cb 174 double R1y = 0; //The y-component of the joint 1 radius
Gerber 18:1e4f697a92cb 175 double R2x = cos(q1)*L1; //The x-component of the joint 2 radius
Gerber 18:1e4f697a92cb 176 double R2y = sin(q1)*L1; //The y-component of the joint 1 radius
Gerber 18:1e4f697a92cb 177 double Fx = 0;
Gerber 18:1e4f697a92cb 178 double Fy = 0;
Gerber 18:1e4f697a92cb 179 double Tor1 = 0;
Gerber 18:1e4f697a92cb 180 double Tor2 = 0;
Gerber 18:1e4f697a92cb 181 double w1= 0;
Gerber 18:1e4f697a92cb 182 double w2= 0;
Gerber 18:1e4f697a92cb 183
paulineoonk 8:c4ec359af35d 184 void Filteren()
Miriam 0:d5fb29bc0847 185 {
paulineoonk 15:1cfe58aea10d 186 // LooptimeEMG.reset();
paulineoonk 15:1cfe58aea10d 187 // LooptimeEMG.start();
paulineoonk 8:c4ec359af35d 188
paulineoonk 8:c4ec359af35d 189 //EMG 1
paulineoonk 8:c4ec359af35d 190
paulineoonk 10:518a8617c86e 191 emgNotchLB = NFLB.step(emgLB.read() ); // Notch filter
paulineoonk 10:518a8617c86e 192 emgHPLB = HPFLB.step(emgNotchLB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 193 emgAbsHPLB = abs(emgHPLB); // Take absolute value
paulineoonk 10:518a8617c86e 194 emgLPLB = LPFLB.step(emgAbsHPLB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 195 emgMEANSUBLB = emgLPLB - RESTMEANLB; //substract the restmean value
paulineoonk 10:518a8617c86e 196 LBF = emgLPLB/MVCLB; // Scale to maximum signal: useful for motor. LBF should now be between 0-1.
paulineoonk 9:285499f48cdd 197
paulineoonk 10:518a8617c86e 198 emgNotchRB = NFRB.step(emgRB.read()); // Notch filter
paulineoonk 10:518a8617c86e 199 emgHPRB = HPFRB.step(emgNotchRB); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 200 emgAbsHPRB = abs(emgHPRB); // Take absolute value
paulineoonk 10:518a8617c86e 201 emgLPRB = LPFRB.step(emgAbsHPRB); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 202 emgMEANSUBLB = emgLPLB - RESTMEANLB;
paulineoonk 9:285499f48cdd 203 RBF = emgLPRB/MVCRB; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 204
paulineoonk 10:518a8617c86e 205 emgNotchLT = NFLT.step(emgLT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 206 emgHPLT = HPFLT.step(emgNotchLT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 207 emgAbsHPLT = abs(emgHPLT); // Take absolute value
paulineoonk 10:518a8617c86e 208 emgLPLT = LPFLT.step(emgAbsHPLT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 209 emgMEANSUBLT = emgLPLT - RESTMEANLT; //substract the restmean value
paulineoonk 9:285499f48cdd 210 LTF = emgLPLT/MVCLT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 211
paulineoonk 10:518a8617c86e 212 emgNotchRT = NFRT.step(emgRT.read() ); // Notch filter
paulineoonk 10:518a8617c86e 213 emgHPRT = HPFRT.step(emgNotchRT); // High-pass filter: also normalises around 0.
paulineoonk 8:c4ec359af35d 214 emgAbsHPRT = abs(emgHPRT); // Take absolute value
paulineoonk 10:518a8617c86e 215 emgLPRT = LPFRT.step(emgAbsHPRT); // Low-pass filter: creates envelope
paulineoonk 10:518a8617c86e 216 emgMEANSUBRT = emgLPRT - RESTMEANRT; //substract the restmean value
paulineoonk 9:285499f48cdd 217 RTF = emgLPRT/MVCRT; // Scale to maximum signal: useful for motor
paulineoonk 8:c4ec359af35d 218
paulineoonk 8:c4ec359af35d 219 //if (emgFiltered >1)
paulineoonk 8:c4ec359af35d 220 //{
paulineoonk 8:c4ec359af35d 221 // emgFiltered=1.00;
paulineoonk 8:c4ec359af35d 222 //}
paulineoonk 8:c4ec359af35d 223 //pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, loop = %f \r\n, emgreadRB = %f , emgFiltered = %f, maxi = %f \r\n, emgreadLT = %f , emgFiltered = %f, maxi = %f \r\n, emgreadRT = %f , emgFiltered = %f, maxi = %f \r\n",emgLB.read(), LBF, maxiLB,looptime.read(),emgRB.read(), RBF, maxiRB,emgLT.read(), LTF, maxiLT, emgRT.read(), RTF, maxiRT);
paulineoonk 6:e0e5da2c068f 224 //int maxwaarde = 4096; // = 64x64
paulineoonk 6:e0e5da2c068f 225 //double refP = emgFiltered*maxwaarde;
paulineoonk 6:e0e5da2c068f 226 //return refP; // value between 0 and 4096
paulineoonk 9:285499f48cdd 227
Miriam 0:d5fb29bc0847 228 }
paulineoonk 9:285499f48cdd 229
paulineoonk 10:518a8617c86e 230 void CalibrationEMG()
paulineoonk 7:05c71a859d27 231 {
Gerber 20:14edaecd7413 232 pc.printf("Timescalibration = %i \r\n",Timescalibration);
paulineoonk 7:05c71a859d27 233 Timescalibration++;
paulineoonk 9:285499f48cdd 234
paulineoonk 10:518a8617c86e 235 if(Timescalibration<2000)
paulineoonk 9:285499f48cdd 236 {
Gerber 20:14edaecd7413 237 pc.printf("calibratie rust EMG \r\n");
charloverwijk 17:dbdbd1edc260 238 led = 1;
Gerber 20:14edaecd7413 239 // wait(0.2);
Gerber 20:14edaecd7413 240 //led = 0;
paulineoonk 10:518a8617c86e 241
paulineoonk 10:518a8617c86e 242 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 243 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 244 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 245 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 10:518a8617c86e 246 emgSUMLB += emgLPLB; //SUM all rest values LB
paulineoonk 10:518a8617c86e 247
paulineoonk 11:b46a4c48c08f 248 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 249 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 250 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 251 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 10:518a8617c86e 252 emgSUMRB += emgLPRB; //SUM all rest values RB
paulineoonk 10:518a8617c86e 253
paulineoonk 10:518a8617c86e 254 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 255 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 256 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 257 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 10:518a8617c86e 258 emgSUMLT += emgLPLT; //SUM all rest values LT
paulineoonk 10:518a8617c86e 259
paulineoonk 10:518a8617c86e 260 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 261 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 262 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 263 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 10:518a8617c86e 264 emgSUMRT += emgLPRT; //SUM all rest values RT
paulineoonk 10:518a8617c86e 265 }
paulineoonk 10:518a8617c86e 266 if(Timescalibration==1999)
paulineoonk 10:518a8617c86e 267 {
Gerber 20:14edaecd7413 268 /*led = 1;
charloverwijk 17:dbdbd1edc260 269 wait(0.2);
charloverwijk 17:dbdbd1edc260 270 led = 0;
charloverwijk 17:dbdbd1edc260 271 wait(0.2);
charloverwijk 17:dbdbd1edc260 272 led = 1;
charloverwijk 17:dbdbd1edc260 273 wait(0.2);
Gerber 20:14edaecd7413 274 */
charloverwijk 17:dbdbd1edc260 275 led = 0;
paulineoonk 10:518a8617c86e 276 RESTMEANLB = emgSUMLB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 277 RESTMEANRB = emgSUMRB/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 278 RESTMEANRT = emgSUMRT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 279 RESTMEANLT = emgSUMLT/Timescalibration; //determine the mean rest value
paulineoonk 10:518a8617c86e 280 }
Gerber 21:9307dc9be4f7 281 if(Timescalibration>2000 && Timescalibration<3000)
paulineoonk 10:518a8617c86e 282 {
Gerber 20:14edaecd7413 283 pc.printf("maximum linker biceps \r\n");
charloverwijk 17:dbdbd1edc260 284 led = 1;
Gerber 20:14edaecd7413 285 /*wait(0.2);
charloverwijk 17:dbdbd1edc260 286 led = 0;
charloverwijk 17:dbdbd1edc260 287 wait(0.2);
charloverwijk 17:dbdbd1edc260 288 led = 1;
charloverwijk 17:dbdbd1edc260 289 wait(0.2);
charloverwijk 17:dbdbd1edc260 290 led = 0;
charloverwijk 17:dbdbd1edc260 291 wait(0.2);
charloverwijk 17:dbdbd1edc260 292 led = 1;
charloverwijk 17:dbdbd1edc260 293 wait(0.2);
charloverwijk 17:dbdbd1edc260 294 led = 0;
Gerber 20:14edaecd7413 295 */
paulineoonk 10:518a8617c86e 296 emgNotchLB = NFLB.step(emgLB.read() );
paulineoonk 10:518a8617c86e 297 emgHPLB = HPFLB.step(emgNotchLB);
paulineoonk 10:518a8617c86e 298 emgAbsHPLB = abs(emgHPLB);
paulineoonk 10:518a8617c86e 299 emgLPLB = LPFLB.step(emgAbsHPLB);
paulineoonk 9:285499f48cdd 300 double emgfinalLB = emgLPLB;
paulineoonk 9:285499f48cdd 301 if (emgfinalLB > MVCLB)
paulineoonk 9:285499f48cdd 302 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 303 MVCLB = emgfinalLB;
paulineoonk 9:285499f48cdd 304 }
paulineoonk 9:285499f48cdd 305 }
paulineoonk 9:285499f48cdd 306
Gerber 21:9307dc9be4f7 307 if(Timescalibration>3000 && Timescalibration<4000)
paulineoonk 9:285499f48cdd 308 {
Gerber 20:14edaecd7413 309 pc.printf(" maximum rechter biceps \r\n");
Gerber 20:14edaecd7413 310 /*led = 1;
charloverwijk 17:dbdbd1edc260 311 wait(0.2);
charloverwijk 17:dbdbd1edc260 312 led = 0;
charloverwijk 17:dbdbd1edc260 313 wait(0.2);
charloverwijk 17:dbdbd1edc260 314 led = 1;
charloverwijk 17:dbdbd1edc260 315 wait(0.2);
charloverwijk 17:dbdbd1edc260 316 led = 0;
charloverwijk 17:dbdbd1edc260 317 wait(0.2);
charloverwijk 17:dbdbd1edc260 318 led = 1;
charloverwijk 17:dbdbd1edc260 319 wait(0.2);
charloverwijk 17:dbdbd1edc260 320 led = 0;
charloverwijk 17:dbdbd1edc260 321 wait(0.2);
charloverwijk 17:dbdbd1edc260 322 led = 1;
charloverwijk 17:dbdbd1edc260 323 wait(0.2);
Gerber 20:14edaecd7413 324 */
charloverwijk 17:dbdbd1edc260 325 led = 0;
paulineoonk 10:518a8617c86e 326 emgNotchRB = NFRB.step(emgRB.read());
paulineoonk 10:518a8617c86e 327 emgHPRB = HPFRB.step(emgNotchRB);
paulineoonk 10:518a8617c86e 328 emgAbsHPRB = abs(emgHPRB);
paulineoonk 10:518a8617c86e 329 emgLPRB = LPFRB.step(emgAbsHPRB);
paulineoonk 9:285499f48cdd 330 double emgfinalRB = emgLPRB;
paulineoonk 9:285499f48cdd 331 if (emgfinalRB > MVCRB)
paulineoonk 7:05c71a859d27 332 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 333 MVCRB = emgfinalRB;
paulineoonk 9:285499f48cdd 334 }
paulineoonk 9:285499f48cdd 335 }
paulineoonk 9:285499f48cdd 336
Gerber 21:9307dc9be4f7 337 if(Timescalibration>4000 && Timescalibration<5000)
paulineoonk 9:285499f48cdd 338 {
Gerber 20:14edaecd7413 339 pc.printf("maximum linker triceps \r\n");
charloverwijk 17:dbdbd1edc260 340 led = 1;
Gerber 20:14edaecd7413 341 /*wait(0.2);
charloverwijk 17:dbdbd1edc260 342 led = 0;
charloverwijk 17:dbdbd1edc260 343 wait(0.2);
charloverwijk 17:dbdbd1edc260 344 led = 1;
charloverwijk 17:dbdbd1edc260 345 wait(0.2);
charloverwijk 17:dbdbd1edc260 346 led = 0;
charloverwijk 17:dbdbd1edc260 347 wait(0.2);
charloverwijk 17:dbdbd1edc260 348 led = 1;
charloverwijk 17:dbdbd1edc260 349 wait(0.2);
charloverwijk 17:dbdbd1edc260 350 led = 0;
charloverwijk 17:dbdbd1edc260 351 wait(0.2);
charloverwijk 17:dbdbd1edc260 352 led = 1;
charloverwijk 17:dbdbd1edc260 353 wait(0.2);
charloverwijk 17:dbdbd1edc260 354 led = 0;
charloverwijk 17:dbdbd1edc260 355 wait(0.2);
charloverwijk 17:dbdbd1edc260 356 led = 1;
charloverwijk 17:dbdbd1edc260 357 wait(0.2);
charloverwijk 17:dbdbd1edc260 358 led = 0;
Gerber 20:14edaecd7413 359 */
paulineoonk 10:518a8617c86e 360 emgNotchLT = NFLT.step(emgLT.read() );
paulineoonk 10:518a8617c86e 361 emgHPLT = HPFLT.step(emgNotchLT);
paulineoonk 10:518a8617c86e 362 emgAbsHPLT = abs(emgHPLT);
paulineoonk 10:518a8617c86e 363 emgLPLT = LPFLT.step(emgAbsHPLT);
paulineoonk 9:285499f48cdd 364 double emgfinalLT = emgLPLT;
paulineoonk 9:285499f48cdd 365 if (emgfinalLT > MVCLT)
paulineoonk 9:285499f48cdd 366 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 367 MVCLT = emgfinalLT;
paulineoonk 7:05c71a859d27 368 }
paulineoonk 9:285499f48cdd 369 }
paulineoonk 9:285499f48cdd 370
Gerber 21:9307dc9be4f7 371 if(Timescalibration>5000 && Timescalibration<6000)
paulineoonk 9:285499f48cdd 372 {
Gerber 20:14edaecd7413 373 pc.printf("maximum rechter triceps");
paulineoonk 10:518a8617c86e 374 emgNotchRT = NFRT.step(emgRT.read() );
paulineoonk 10:518a8617c86e 375 emgHPRT = HPFRT.step(emgNotchRT);
paulineoonk 10:518a8617c86e 376 emgAbsHPRT = abs(emgHPRT);
paulineoonk 10:518a8617c86e 377 emgLPRT = LPFRT.step(emgAbsHPRT);
paulineoonk 9:285499f48cdd 378 double emgfinalRT = emgLPRT;
paulineoonk 9:285499f48cdd 379 if (emgfinalRT > MVCRT)
paulineoonk 9:285499f48cdd 380 { //determine what the highest reachable emg signal is
paulineoonk 9:285499f48cdd 381 MVCRT = emgfinalRT;
paulineoonk 9:285499f48cdd 382 }
paulineoonk 9:285499f48cdd 383 }
paulineoonk 9:285499f48cdd 384
Gerber 21:9307dc9be4f7 385 if(Timescalibration>6000)
paulineoonk 7:05c71a859d27 386 {
Gerber 20:14edaecd7413 387 pc.printf("calibratie afgelopen");
Gerber 20:14edaecd7413 388 State = SelectDevice;
paulineoonk 7:05c71a859d27 389 }
paulineoonk 9:285499f48cdd 390 // pc.printf("maxi waarde = %f emgfinal = %f \r\n",maxi,emgfinal);
paulineoonk 9:285499f48cdd 391 //}
paulineoonk 7:05c71a859d27 392 //PAS ALS DEZE TRUE IS, MOET DE MOTOR PAS BEWEGEN!!!
paulineoonk 7:05c71a859d27 393 //return maxi;
paulineoonk 7:05c71a859d27 394 }
paulineoonk 16:2f89d6e25782 395
Gerber 18:1e4f697a92cb 396 void RKI()
Gerber 18:1e4f697a92cb 397 {
Gerber 18:1e4f697a92cb 398 Rex = cos(q1)*L1 - sin(q2)*L2;
Gerber 18:1e4f697a92cb 399 Rey = sin(q1)*L1 + cos(q2)*L2;
Gerber 18:1e4f697a92cb 400 R2x = cos(q1)*L1;
Gerber 18:1e4f697a92cb 401 R2y = sin(q1)*L1;
Gerber 18:1e4f697a92cb 402 Fx = (Rsx-Rex)*K;
Gerber 18:1e4f697a92cb 403 Fy = (Rsy-Rey)*K;
Gerber 18:1e4f697a92cb 404 Tor1 = (Rex-R1x)*Fy + (R1y-Rey)*Fx;
Gerber 18:1e4f697a92cb 405 Tor2 = (Rex-R2x)*Fy + (R2y-Rey)*Fx;
Gerber 18:1e4f697a92cb 406 w1 = Tor1/B1;
Gerber 18:1e4f697a92cb 407 w2 = Tor2/B2;
Gerber 18:1e4f697a92cb 408 q1 = q1 + w1*Tijd;
Gerber 18:1e4f697a92cb 409 q2 = q2 + w2*Tijd;
Gerber 18:1e4f697a92cb 410
Gerber 18:1e4f697a92cb 411 int maxwaarde = 4096; // = 64x64
Gerber 18:1e4f697a92cb 412 refP = (((0.5*pi) - q1)/(2*pi))*maxwaarde;
Gerber 18:1e4f697a92cb 413 refP2 = (((-pi) + q1 - q2)/(2*pi))*maxwaarde; //Get reference positions was eerst 0.5*pi
Gerber 18:1e4f697a92cb 414 }
Gerber 18:1e4f697a92cb 415
Gerber 21:9307dc9be4f7 416 void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!!
Gerber 21:9307dc9be4f7 417 {
Gerber 21:9307dc9be4f7 418 if (RBF>0.5) {
Gerber 21:9307dc9be4f7 419 //goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm?
Gerber 21:9307dc9be4f7 420 Rsx += 0.001;
Gerber 21:9307dc9be4f7 421 }
Gerber 21:9307dc9be4f7 422 else if (RTF>0.5) {
Gerber 21:9307dc9be4f7 423 //goalx--;
Gerber 21:9307dc9be4f7 424 Rsx -= 0.001;
Gerber 21:9307dc9be4f7 425 }
Gerber 21:9307dc9be4f7 426 else {}
Gerber 21:9307dc9be4f7 427 if (LBF>0.5) {
Gerber 21:9307dc9be4f7 428 //goaly++;
Gerber 21:9307dc9be4f7 429 Rsy +=0.001;
Gerber 21:9307dc9be4f7 430 }
Gerber 21:9307dc9be4f7 431 else if (LTF>0.5) {
Gerber 21:9307dc9be4f7 432 //goaly--;
Gerber 21:9307dc9be4f7 433 Rsy -= 0.001;
Gerber 21:9307dc9be4f7 434 }
Gerber 21:9307dc9be4f7 435 else {}
Gerber 21:9307dc9be4f7 436 pc.printf("goalx = %f, goaly = %f\r\n",Rsx, Rsy);
Gerber 21:9307dc9be4f7 437 }
Gerber 21:9307dc9be4f7 438
Gerber 18:1e4f697a92cb 439 void SetpointRobot()
Gerber 18:1e4f697a92cb 440 {
Gerber 18:1e4f697a92cb 441 double Potmeterwaarde2 = potMeter2.read();
Gerber 18:1e4f697a92cb 442 double Potmeterwaarde1 = potMeter1.read();
Gerber 18:1e4f697a92cb 443
Gerber 18:1e4f697a92cb 444 if (Potmeterwaarde2>0.6) {
Gerber 18:1e4f697a92cb 445 Rsx += 0.001; //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat
Gerber 18:1e4f697a92cb 446 }
Gerber 18:1e4f697a92cb 447 else if (Potmeterwaarde2<0.4) {
Gerber 18:1e4f697a92cb 448 Rsx -= 0.001; //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4 staat
Gerber 18:1e4f697a92cb 449 }
Gerber 18:1e4f697a92cb 450 else { //de x-waarde van de setpoint verandert niet
Gerber 18:1e4f697a92cb 451 }
Gerber 18:1e4f697a92cb 452
Gerber 18:1e4f697a92cb 453 if (Potmeterwaarde1>0.6) { //het gaat telkens 1 mm verder wanneer de potmeter boven de 0.6 staat
Gerber 18:1e4f697a92cb 454 Rsy += 0.001;
Gerber 18:1e4f697a92cb 455 }
Gerber 18:1e4f697a92cb 456 else if (Potmeterwaarde1<0.4) { //het gaat telkens 1 mm terug wanneer de potmeter onder de 0.4
Gerber 18:1e4f697a92cb 457 Rsy -= 0.001;
Gerber 18:1e4f697a92cb 458 }
Gerber 18:1e4f697a92cb 459 else { //de y-waarde van de setpoint verandert niet
Gerber 18:1e4f697a92cb 460 }
Gerber 18:1e4f697a92cb 461 }
Gerber 18:1e4f697a92cb 462
paulineoonk 16:2f89d6e25782 463 double GetReferencePosition()
paulineoonk 16:2f89d6e25782 464 {
paulineoonk 16:2f89d6e25782 465 double Potmeterwaarde = potMeter2.read(); //naam moet universeel worden
paulineoonk 16:2f89d6e25782 466 int maxwaarde = 4096; // = 64x64
paulineoonk 16:2f89d6e25782 467 double refP = Potmeterwaarde*maxwaarde;
paulineoonk 16:2f89d6e25782 468 return refP; // value between 0 and 4096
paulineoonk 16:2f89d6e25782 469 }
paulineoonk 16:2f89d6e25782 470
paulineoonk 16:2f89d6e25782 471 double GetReferencePosition2()
paulineoonk 16:2f89d6e25782 472 {
paulineoonk 16:2f89d6e25782 473 double potmeterwaarde2 = potMeter1.read();
paulineoonk 16:2f89d6e25782 474 int maxwaarde2 = 4096; // = 64x64
paulineoonk 16:2f89d6e25782 475 double refP2 = potmeterwaarde2*maxwaarde2;
paulineoonk 16:2f89d6e25782 476 return refP2; // value between 0 and 4096
paulineoonk 16:2f89d6e25782 477 }
Gerber 18:1e4f697a92cb 478
Gerber 19:591572f4e4b5 479 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 480 {
Gerber 19:591572f4e4b5 481 double kp = 0.0015; // kind of scaled.
Gerber 19:591572f4e4b5 482 double Proportional= kp*error;
paulineoonk 16:2f89d6e25782 483
Gerber 19:591572f4e4b5 484 double kd = 0.000008; // kind of scaled.
Gerber 19:591572f4e4b5 485 double VelocityError = (error - e_prev)/Ts;
Gerber 19:591572f4e4b5 486 double Derivative = kd*VelocityError;
paulineoonk 16:2f89d6e25782 487 e_prev = error;
paulineoonk 16:2f89d6e25782 488
Gerber 19:591572f4e4b5 489 double ki = 0.0001; // kind of scaled.
paulineoonk 16:2f89d6e25782 490 e_int = e_int+Ts*error;
Gerber 19:591572f4e4b5 491 double Integrator = ki*e_int;
paulineoonk 16:2f89d6e25782 492
Gerber 18:1e4f697a92cb 493
Gerber 19:591572f4e4b5 494 double motorValue = Proportional + Integrator + Derivative;
paulineoonk 16:2f89d6e25782 495 return motorValue;
paulineoonk 16:2f89d6e25782 496 }
paulineoonk 16:2f89d6e25782 497
Gerber 19:591572f4e4b5 498 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 499 {
Gerber 19:591572f4e4b5 500 double kp2 = 0.002; // kind of scaled.
Gerber 19:591572f4e4b5 501 double Proportional2= kp2*error2;
paulineoonk 16:2f89d6e25782 502
Gerber 19:591572f4e4b5 503 double kd2 = 0.000008; // kind of scaled.
Gerber 19:591572f4e4b5 504 double VelocityError2 = (error2 - e_prev2)/Ts;
Gerber 19:591572f4e4b5 505 double Derivative2 = kd2*VelocityError2;
paulineoonk 16:2f89d6e25782 506 e_prev2 = error2;
paulineoonk 16:2f89d6e25782 507
Gerber 19:591572f4e4b5 508 double ki2 = 0.00005; // kind of scaled.
paulineoonk 16:2f89d6e25782 509 e_int2 = e_int2+Ts*error2;
Gerber 19:591572f4e4b5 510 double Integrator2 = ki2*e_int2;
Gerber 18:1e4f697a92cb 511
paulineoonk 16:2f89d6e25782 512
Gerber 19:591572f4e4b5 513 double motorValue2 = Proportional2 + Integrator2 + Derivative2;
paulineoonk 16:2f89d6e25782 514 return motorValue2;
Gerber 18:1e4f697a92cb 515
paulineoonk 16:2f89d6e25782 516 }
paulineoonk 16:2f89d6e25782 517
paulineoonk 16:2f89d6e25782 518 void SetMotor1(double motorValue)
paulineoonk 16:2f89d6e25782 519 {
paulineoonk 16:2f89d6e25782 520 if (motorValue >= 0) {
paulineoonk 16:2f89d6e25782 521 M1D = 0;
paulineoonk 16:2f89d6e25782 522 }
paulineoonk 16:2f89d6e25782 523 else {
paulineoonk 16:2f89d6e25782 524 M1D = 1;
paulineoonk 16:2f89d6e25782 525 }
paulineoonk 16:2f89d6e25782 526
paulineoonk 16:2f89d6e25782 527 if (fabs(motorValue) > 1) {
paulineoonk 16:2f89d6e25782 528 M1E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 16:2f89d6e25782 529 }
paulineoonk 16:2f89d6e25782 530 else {
paulineoonk 16:2f89d6e25782 531 M1E = fabs(motorValue); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 16:2f89d6e25782 532 }
paulineoonk 16:2f89d6e25782 533 }
paulineoonk 16:2f89d6e25782 534
paulineoonk 16:2f89d6e25782 535 void SetMotor2(double motorValue2)
paulineoonk 16:2f89d6e25782 536 {
paulineoonk 16:2f89d6e25782 537 if (motorValue2 >= 0) {
Gerber 18:1e4f697a92cb 538 M2D = 1;
paulineoonk 16:2f89d6e25782 539 }
paulineoonk 16:2f89d6e25782 540 else {
Gerber 18:1e4f697a92cb 541 M2D = 0;
paulineoonk 16:2f89d6e25782 542 }
paulineoonk 16:2f89d6e25782 543
paulineoonk 16:2f89d6e25782 544 if (fabs(motorValue2) > 1) {
paulineoonk 16:2f89d6e25782 545 M2E = 1; //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
paulineoonk 16:2f89d6e25782 546 }
paulineoonk 16:2f89d6e25782 547 else {
paulineoonk 16:2f89d6e25782 548 M2E = fabs(motorValue2); //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
paulineoonk 16:2f89d6e25782 549 }
paulineoonk 16:2f89d6e25782 550 }
paulineoonk 16:2f89d6e25782 551
paulineoonk 16:2f89d6e25782 552 void MeasureAndControl(void)
paulineoonk 16:2f89d6e25782 553 {
Gerber 21:9307dc9be4f7 554 //SetpointRobot();
Gerber 21:9307dc9be4f7 555 changePosition();
Gerber 18:1e4f697a92cb 556 // RKI aanroepen
Gerber 18:1e4f697a92cb 557 RKI();
paulineoonk 16:2f89d6e25782 558 // hier the control of the 1st control system
Gerber 18:1e4f697a92cb 559 //double refP = GetReferencePosition(); //KOMT UIT RKI
paulineoonk 16:2f89d6e25782 560 double Huidigepositie = motor1.getPosition();
paulineoonk 16:2f89d6e25782 561 double error = (refP - Huidigepositie);// make an error
paulineoonk 16:2f89d6e25782 562 double motorValue = FeedBackControl(error, e_prev, e_int);
paulineoonk 16:2f89d6e25782 563 SetMotor1(motorValue);
paulineoonk 16:2f89d6e25782 564 // hier the control of the 2nd control system
Gerber 18:1e4f697a92cb 565 //double refP2 = GetReferencePosition2();
paulineoonk 16:2f89d6e25782 566 double Huidigepositie2 = motor2.getPosition();
paulineoonk 16:2f89d6e25782 567 double error2 = (refP2 - Huidigepositie2);// make an error
paulineoonk 16:2f89d6e25782 568 double motorValue2 = FeedBackControl2(error2, e_prev2, e_int2);
paulineoonk 16:2f89d6e25782 569 SetMotor2(motorValue2);
Gerber 20:14edaecd7413 570 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 571 }
paulineoonk 16:2f89d6e25782 572
Gerber 21:9307dc9be4f7 573 /*void changePosition () // DIT MOET NOG HEEL ERG GETUNED WORDEN !!!
paulineoonk 11:b46a4c48c08f 574 {
paulineoonk 11:b46a4c48c08f 575 if (RBF>0.3) {
paulineoonk 11:b46a4c48c08f 576 goalx++; // hoe veel verder gaat hij? 1 cm? 10 cm?
paulineoonk 11:b46a4c48c08f 577 }
paulineoonk 11:b46a4c48c08f 578 if (RTF>0.3) {
paulineoonk 11:b46a4c48c08f 579 goalx--;
paulineoonk 11:b46a4c48c08f 580 }
paulineoonk 11:b46a4c48c08f 581 if (LBF>0.3) {
paulineoonk 11:b46a4c48c08f 582 goaly++;
paulineoonk 11:b46a4c48c08f 583 }
paulineoonk 11:b46a4c48c08f 584 if (LTF>0.3) {
paulineoonk 11:b46a4c48c08f 585 goaly--;
paulineoonk 11:b46a4c48c08f 586 }
paulineoonk 12:65b8d29bdd5d 587 pc.printf("goalx = %i, goaly = %i\r\n",goalx, goaly);
paulineoonk 11:b46a4c48c08f 588 }
Gerber 21:9307dc9be4f7 589 */
paulineoonk 14:a861ba49107c 590 void Loop_funtion()
paulineoonk 14:a861ba49107c 591 {
Gerber 20:14edaecd7413 592 pc.printf("state machine begint \r\n");
paulineoonk 14:a861ba49107c 593 switch(State){
paulineoonk 14:a861ba49107c 594 case Cal1: //Calibration motor 1
Gerber 20:14edaecd7413 595 pc.printf("cal1 \r\n");
Gerber 19:591572f4e4b5 596 State=Cal2;
paulineoonk 14:a861ba49107c 597 // naar achteren bewegen( als voorbeeld Arvid), daarna deze waarde opslaan als offset. Dan bewegen naar home middels PID en verschil encodervalue uiterste stand en home1.
Gerber 19:591572f4e4b5 598 /* motorValue1 = 0.1f; motorValue2=0;
paulineoonk 16:2f89d6e25782 599 M2E = fabs(motorValue2);
paulineoonk 16:2f89d6e25782 600 M1E = fabs(motorValue1);
Gerber 19:591572f4e4b5 601
paulineoonk 14:a861ba49107c 602 if (Huidigepositie1== 0)
paulineoonk 14:a861ba49107c 603 {
paulineoonk 16:2f89d6e25782 604 SetMotor1(value); //value is waarde encoder voor loodrechte hoeken,.
Gerber 19:591572f4e4b5 605 //if (fabs(Huidigepositie1<0.01) {
paulineoonk 15:1cfe58aea10d 606 State=Cal2;
Gerber 19:591572f4e4b5 607 //}
paulineoonk 14:a861ba49107c 608 }
paulineoonk 14:a861ba49107c 609 else {
paulineoonk 14:a861ba49107c 610 SetMotor1(0);
paulineoonk 15:1cfe58aea10d 611 Loop_funtion();
Gerber 19:591572f4e4b5 612 }*/
paulineoonk 14:a861ba49107c 613 break;
paulineoonk 14:a861ba49107c 614
paulineoonk 14:a861ba49107c 615 case Cal2: //Calibration motor 2
Gerber 20:14edaecd7413 616 State = CalEMG;
Gerber 19:591572f4e4b5 617 /* if (Huidigepositie2== 0)
paulineoonk 14:a861ba49107c 618 {
paulineoonk 15:1cfe58aea10d 619 if (Huidigepositie2<0.01){
paulineoonk 15:1cfe58aea10d 620 State=CalEMG;
paulineoonk 14:a861ba49107c 621 }
paulineoonk 14:a861ba49107c 622 else {
paulineoonk 14:a861ba49107c 623 SetMotor2(0);
paulineoonk 15:1cfe58aea10d 624 Loop_funtion();
Gerber 19:591572f4e4b5 625 } */
paulineoonk 14:a861ba49107c 626 break;
paulineoonk 14:a861ba49107c 627 case CalEMG: // Calibration EMG
paulineoonk 15:1cfe58aea10d 628 CalibrationEMG(); //calculates average EMGFiltered at rest and measures max signal EMGFiltered.
paulineoonk 14:a861ba49107c 629 break;
paulineoonk 14:a861ba49107c 630 case SelectDevice: //Looks at the difference between current position and home. Select aansturen EMG or buttons
paulineoonk 15:1cfe58aea10d 631 if (button==1) {
paulineoonk 15:1cfe58aea10d 632 State=EMG;
paulineoonk 14:a861ba49107c 633 }
paulineoonk 15:1cfe58aea10d 634 if (button==0) {
paulineoonk 15:1cfe58aea10d 635 State=Demo;
paulineoonk 14:a861ba49107c 636 }
paulineoonk 14:a861ba49107c 637 break;
paulineoonk 14:a861ba49107c 638 case EMG: //Aansturen met EMG
Gerber 20:14edaecd7413 639 pc.printf("EMG begint met aansturen \r\n");
paulineoonk 14:a861ba49107c 640 Filteren();
Gerber 21:9307dc9be4f7 641 //changePosition();
paulineoonk 16:2f89d6e25782 642 //RKI --> output refP van motor
paulineoonk 16:2f89d6e25782 643 MeasureAndControl();
paulineoonk 14:a861ba49107c 644 break;
paulineoonk 15:1cfe58aea10d 645 case Demo: // Aansturen met toetsenbord
paulineoonk 14:a861ba49107c 646 break;
paulineoonk 15:1cfe58aea10d 647 }
paulineoonk 14:a861ba49107c 648 }
Miriam 0:d5fb29bc0847 649
paulineoonk 15:1cfe58aea10d 650 /*void Tickerfunctie()
paulineoonk 8:c4ec359af35d 651 {
paulineoonk 13:3351f4374885 652 //if(caldone == false)
paulineoonk 13:3351f4374885 653 //{
paulineoonk 12:65b8d29bdd5d 654 pc.printf("emgreadRB = %f , emgFiltered = %f, maxi = %f meanrest = %f\r\n",emgRB.read(), RBF, MVCRB, RESTMEANLB);
paulineoonk 11:b46a4c48c08f 655 pc.printf("emgreadLB = %f , emgFiltered = %f, maxi = %f, meanrest = %f emgSUMLB %f ,Timescalibration %i\r\n",emgLB.read(), LBF, MVCLB,RESTMEANRB,emgSUMLB, Timescalibration);
paulineoonk 10:518a8617c86e 656 pc.printf("emgreadRT = %f , emgFilteredRT = %f, maxiRT = %f meanrest = %f \r\n",emgRT.read(), RTF, MVCRT,RESTMEANRT);
paulineoonk 10:518a8617c86e 657 pc.printf("emgreadLT = %f , emgFilteredLT = %f, maxiLT = %f meanrest = %f \r\n",emgLT.read(), LTF, MVCLT,RESTMEANLT);
paulineoonk 13:3351f4374885 658 //}
paulineoonk 8:c4ec359af35d 659 }
paulineoonk 15:1cfe58aea10d 660 */
Gerber 19:591572f4e4b5 661 int main()//deze moet ooit nog weg --> pas op voor errors
Miriam 0:d5fb29bc0847 662 {
paulineoonk 7:05c71a859d27 663 //voor EMG filteren
paulineoonk 10:518a8617c86e 664 //Left Bicep
paulineoonk 9:285499f48cdd 665 NFLB.add( &N1LB );
paulineoonk 10:518a8617c86e 666 HPFLB.add( &HP1LB ).add( &HP2LB );
paulineoonk 9:285499f48cdd 667 LPFLB.add( &LP1LB ).add( &LP2LB );
paulineoonk 9:285499f48cdd 668
paulineoonk 10:518a8617c86e 669 //Right Bicep
paulineoonk 10:518a8617c86e 670 NFRB.add( &N1RB );
paulineoonk 10:518a8617c86e 671 HPFRB.add( &HP1RB ).add( &HP2RB );
paulineoonk 10:518a8617c86e 672 LPFRB.add( &LP1RB ).add( &LP2RB );
paulineoonk 9:285499f48cdd 673
paulineoonk 10:518a8617c86e 674 //Left Tricep
paulineoonk 10:518a8617c86e 675 NFLT.add( &N1LT );
paulineoonk 10:518a8617c86e 676 HPFLT.add( &HP1LT ).add( &HP2LT );
paulineoonk 10:518a8617c86e 677 LPFLT.add( &LP1LT ).add( &LP2LT );
paulineoonk 10:518a8617c86e 678
paulineoonk 10:518a8617c86e 679 //Right Tricep
paulineoonk 10:518a8617c86e 680 NFRT.add( &N1RT );
paulineoonk 10:518a8617c86e 681 HPFRT.add( &HP1RT ).add( &HP2RT );
paulineoonk 10:518a8617c86e 682 LPFRT.add( &LP1RT ).add( &LP2RT );
paulineoonk 3:36e706d6b3d2 683
paulineoonk 7:05c71a859d27 684 //voor serial
paulineoonk 7:05c71a859d27 685 pc.baud(115200);
Gerber 20:14edaecd7413 686 pc.printf("begint met programma \r\n");
paulineoonk 7:05c71a859d27 687
paulineoonk 7:05c71a859d27 688 //motor
Gerber 20:14edaecd7413 689 M1E.period(PwmPeriod); //set PWMposition at 5000hz
paulineoonk 7:05c71a859d27 690 //Ticker
paulineoonk 15:1cfe58aea10d 691 //Treecko.attach(MeasureAndControl, tijdstap); //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende
paulineoonk 3:36e706d6b3d2 692 //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
paulineoonk 15:1cfe58aea10d 693 // printer.attach(Tickerfunctie,0.4);
paulineoonk 14:a861ba49107c 694
paulineoonk 14:a861ba49107c 695 //State Machine
paulineoonk 14:a861ba49107c 696 State = Cal1;
paulineoonk 14:a861ba49107c 697 Position_controller_on = false;
Gerber 20:14edaecd7413 698 Treecko.attach(&Loop_funtion, Ts);
paulineoonk 3:36e706d6b3d2 699 while(true)
paulineoonk 16:2f89d6e25782 700 { }
paulineoonk 3:36e706d6b3d2 701
paulineoonk 16:2f89d6e25782 702 //is deze wel nodig?
paulineoonk 16:2f89d6e25782 703 }