Revision 0:d5fb29bc0847, committed 2017-10-23

Comitter:

Miriam

Date:

Mon Oct 23 10:04:37 2017 +0000

Child:

1:99754fe781b0

Commit message:

samenvoegen filteren en week6ordenenscript

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.lib	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/vsluiter/code/Encoder/#18b000b443af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/tomlankhorst/code/HIDScope/#d23c6edecc49

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/biquadFilter.lib	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/tomlankhorst/code/biquadFilter/#26861979d305

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,153 @@
+//libaries
+#include "mbed.h"
+#include "BiQuad.h"
+#include "HIDScope.h"
+#include "encoder.h"
+#include "MODSERIAL.h"
+
+
+//globale variabelen FILTERS
+
+//Hidscope aanmaken
+HIDScope scope(2);
+double maxi = 0.12;                     // max signal after filtering, 0.1-0.12
+
+// Biquad filters van respectievelijk Notch, High-pass en Low-pass filter
+BiQuad N1( 8.63271e-01, -1.39680e+00, 8.63271e-01, -1.39680e+00, 7.26543e-01 );
+BiQuadChain NF;
+BiQuad HP1( 9.63001e-01, -9.62990e-01, 0.00000e+00, -9.62994e-01, 0.00000e+00 );
+BiQuad HP2( 1.00000e+00, -2.00001e+00, 1.00001e+00, -1.96161e+00, 9.63007e-01 ); 
+BiQuadChain HPF;
+BiQuad LP1( 2.56971e-06, 2.56968e-06, 0.00000e+00, -9.72729e-01, 0.00000e+00 );
+BiQuad LP2( 1.00000e+00, 2.00001e+00, 1.00001e+00, -1.97198e+00, 9.72734e-01 );
+BiQuadChain LPF;
+
+float f = 500;       // frequency
+float dt = 1/f;      // sample frequency
+Ticker emgverwerkticker;
+AnalogIn emg(A0);   // EMG lezen
+
+// globale variabelen PID controller
+
+Ticker AInTicker;           //We make a ticker named AIn (use for HIDScope)
+
+Ticker Treecko;             //We make a awesome ticker for our control system
+//AnalogIn potMeter2(A1);     //Analoge input of potmeter 2 (will be use for te reference position) --> emgFiltered
+PwmOut M1E(D6);             //Biorobotics Motor 1 PWM control of the speed 
+DigitalOut M1D(D7);         //Biorobotics Motor 1 diraction control
+
+Encoder motor1(D13,D12,true);
+MODSERIAL pc(USBTX,USBRX);
+
+float PwmPeriod = 1.0/5000.0;           //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
+const float Ts = 0.1;                   // tickettijd/ sample time
+float e_prev = 0; 
+float e_int = 0;
+
+
+//FILTERS
+void emgverwerk ()
+{
+    double emgNotch = NF.step(emg.read() );  // Notch filter
+    double emgHP = HPF.step(emgNotch);       // High-pass filter: also normalises around 0.
+    double emgAbsHP = abs(emgHP);            // Take absolute value
+    double emgLP = LPF.step(emgAbsHP);       // Low-pass filter: creates envelope
+    double emgMax = maxi;                      //(emgLP);             // moet waarde 'schatten' voor de max, want je leest de data live. voorbeeld: 0.1, maar mogelijk 0.2 kiezen voor veiligheidsfactor. Dan gaat motor alleen maximaal op 1/2 vermogen.
+    double emgFiltered = emgLP/emgMax;       // Scale to maximum signal: useful for motor
+    if (emgFiltered >1)
+    {
+        emgFiltered=1.00;
+    }
+    scope.set(0,emgFiltered);
+    scope.set(1,emg.read());
+    scope.send();    
+}    
+
+
+// PID CONTROLLER
+float GetReferencePosition() 
+{
+    float Potmeterwaarde = potMeter2.read();
+    int maxwaarde = 4096;                   // = 64x64
+    float refP = Potmeterwaarde*maxwaarde;
+    return refP;                            // value between 0 and 4096 
+}
+    
+float FeedBackControl(float error, float &e_prev, float &e_int)   // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
+{
+    float kp = 0.001;                             // kind of scaled.
+    float Proportional= kp*error;
+    
+    float kd = 0.0004;                           // kind of scaled. 
+    float VelocityError = (error - e_prev)/Ts; 
+    float Derivative = kd*VelocityError;
+    e_prev = error;
+    
+    float ki = 0.00005;                           // kind of scaled.
+    e_int = e_int+Ts*error;
+    float Integrator = ki*e_int;
+    
+    
+    float motorValue = Proportional + Integrator + Derivative;
+    return motorValue;
+}
+
+void SetMotor1(float motorValue)
+{
+    if (motorValue >= 0)
+    {
+        M1D = 0;
+    }
+    else 
+    {
+        M1D = 1;
+    }
+
+    if  (fabs(motorValue) > 1)    
+    {
+        M1E = 1;                    //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
+    }
+    else
+    {    
+        M1E = fabs(motorValue);      //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
+    }
+}
+
+float Encoder ()
+{
+    float Huidigepositie = motor1.getPosition ();
+    return Huidigepositie;             // huidige positie = current position
+}
+
+void MeasureAndControl(void)
+{
+    // hier the control of the control system
+    float refP = GetReferencePosition(); 
+    float Huidigepositie = Encoder(); 
+    float error = (refP - Huidigepositie);// make an error
+    float motorValue = FeedBackControl(error, e_prev, e_int);
+    SetMotor1(motorValue);
+}
+
+
+int main()
+{
+    NF.add( &N1 );
+    HPF.add( &HP1 ).add( &HP2 );
+    LPF.add( &LP1 ).add( &LP2 );
+    emgverwerkticker.attach(&emgverwerk,dt);
+    
+    M1E.period(PwmPeriod);
+    Treecko.attach(MeasureAndControl, Ts);   //Elke 1 seconde zorgt de ticker voor het runnen en uitlezen van de verschillende 
+                                            //functies en analoge signalen. Veranderingen worden elke 1 seconde doorgevoerd.
+     
+    while(1) 
+    {
+        wait(0.2);
+        pc.baud(115200);
+        float B = motor1.getPosition();
+        float Potmeterwaarde = potMeter2.read();
+        //float positie = B%4096;
+        pc.printf("pos: %d, speed %f, potmeter = %f V, \r\n",motor1.getPosition(), motor1.getSpeed(),(potMeter2.read()*3.3)); //potmeter uitlezen. tussen 0-1. voltage, dus *3.3V
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 23 10:04:37 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/b484a57bc302
\ No newline at end of file