File content as of revision 11:126ae33919b3:

//libaries
#include "mbed.h"
#include "HIDScope.h"
#include "encoder.h"
#include "MODSERIAL.h"


// globale variables
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)
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;

//tweede motor
AnalogIn potMeter1(A2);
PwmOut M2E(D5);
DigitalOut M2D(D4);
Encoder motor2(D9,D8,true);
Ticker DubbelTreecko;

float PwmPeriod2 = 1.0/5000.0;           //set up of PWM periode (5000 Hz, want 5000 periodes in 1 seconde)
float e_prev2 = 0; 
float e_int2 = 0;

double Potmeterwaarde1;
double Potmeterwaarde2;
double Potmeterwaarde;
double potmeterwaarde2;
int maxwaarde, maxwaarde2;
float refP, refP2;
float kp, Proportional, kd, VelocityError, Derivative, ki, Integrator, motorValue;
float kp2, Proportional2, kd2, VelocityError2, Derivative2, ki2, Integrator2, motorValue2;
float Huidigepositie;
float Aerror;
float Huidigepositie2;
float Aerror2;
float motorVal, motorVal2;

double pi = 3.14159265359;
double SetPx = 38;     //Setpoint position x-coordinate from changePosition (EMG dependent)
double SetPy = 30;     //Setpoint position y-coordinate from changePosition (EMG dependent)
volatile double q1 = 0;          //Reference position q1 from calibration (only the first time)
volatile double q2 = (pi/2);       //Reference position q2 from calibration (only the first time)
const double L1 = 30;  //Length arm 1
const double L2 = 38;  //Length arm 2
double K = 1;           //Spring constant for movement end-joint to setpoint
double B1 = 1;          //Friction coefficient for motor 1
double B2 = 1;          //Friction coefficient for motot 2
double T = 0.02;       //Desired time step
double Motor1Set;       //Motor1 angle
double Motor2Set;       //Motor2 angle
double p;
double pp;
double bb;
double cc;
double a;
double aa;

void RKI()
{
    p=sin(q1)*L1;
    pp=sin(q2)*L2;
    a=cos(q1)*L1;
    aa=cos(q2)*L2;
    bb=SetPy;
    cc=SetPx;
    q1 = q1 + ((p + pp)*bb - (a + aa)*cc)*(K*T)/B1;     //Calculate desired joint 1 position
    q2 = q2 + ((bb - a)*pp + (p - cc)*aa)*(K*T)/B2;     //Calculate desired joint 2 position
    
    int maxwaarde = 4096;                   // = 64x64
    
    
    Motor1Set = (q1/(2*pi))*maxwaarde;           //Calculate the desired motor1 angle from the desired joint positions
    Motor2Set = ((pi-q2-q1)/(2*pi))*maxwaarde;   //Calculate the desired motor2 angle from the desired joint positions
    
    //pc.printf("waarde p = %f, waarde pp = %f, a= %f, aa = %f, bb = %f, cc = %f \r\n",p,pp,a,aa,bb,cc);
    //pc.printf("q1 = %f, q2 = %f, Motor1Set = %f, Motor2Set = %f \r\n", q1, q2, Motor1Set, Motor2Set);
    //pc.printf("Setpointx = %f, Setpointy = %f \r\n", SetPx, SetPy);
}

void SetpointRobot()
{   
     Potmeterwaarde2 = potMeter2.read();
     Potmeterwaarde1 = potMeter1.read();

    if (Potmeterwaarde2>0.6) {
        SetPx++;    // hoe veel verder gaat hij? 1 cm? 10 cm?
    }
    if (Potmeterwaarde2<0.4) {
        SetPx--;
    }
    if (Potmeterwaarde1>0.6) {
        SetPy++;
    }
    if (Potmeterwaarde1<0.4) {
        SetPy--;
    }
    //pc.printf("Setpointx = %f, Setpointy = %f \r\n", SetPx, SetPy);
}

float GetReferencePosition() 
{
     Potmeterwaarde = potMeter2.read();
     maxwaarde = 4096;                   // = 64x64
     refP = Potmeterwaarde*maxwaarde;
    return refP;                            // value between 0 and 4096 
}

float GetReferencePosition2() 
{
     potmeterwaarde2 = potMeter1.read();
     maxwaarde2 = 4096;                   // = 64x64
     refP2 = potmeterwaarde2*maxwaarde2;
    return refP2;                            // 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)
{
     kp = 0.001;                             // kind of scaled.
     Proportional= kp*error;
    
     kd = 0.0004;                           // kind of scaled. 
     VelocityError = (error - e_prev)/Ts; 
     Derivative = kd*VelocityError;
    e_prev = error;
    
     ki = 0.0005;                           // kind of scaled.
    e_int = e_int+Ts*error;
     Integrator = ki*e_int;
    
    
     motorVal = Proportional + Integrator + Derivative;
    return motorVal;
}

float FeedBackControl2(float error2, float &e_prev2, float &e_int2)   // schaalt de snelheid naar de snelheid zodat onze chip het begrijpt (is nog niet in werking)
{
     kp2 = 0.001;                             // kind of scaled.
     Proportional2= kp2*error2;
    
     kd2 = 0.0004;                           // kind of scaled. 
     VelocityError2 = (error2 - e_prev2)/Ts; 
     Derivative2 = kd2*VelocityError2;
    e_prev2 = error2;
    
     ki2 = 0.0005;                           // kind of scaled.
    e_int2 = e_int2+Ts*error2;
     Integrator2 = ki2*e_int2;
    
    
     motorVal2 = Proportional2 + Integrator2 + Derivative2;
    return motorVal2;
}


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
    }
}

void SetMotor2(float motorValue2)
{
    if (motorValue2 >= 0)
    {
        M2D = 1;
    }
    else 
    {
        M2D = 0;
    }

    if  (fabs(motorValue2) > 1)    
    {
        M2E = 1;                    //de snelheid wordt teruggeschaald naar 8.4 rad/s (maximale snelheid, dus waarde 1)
    }
    else
    {    
        M2E = fabs(motorValue2);      //de absolute snelheid wordt bepaald, de motor staat uit bij een waarde 0
    }
}

float Encoder ()
{
     Huidigepositie = motor1.getPosition ();
    return Huidigepositie;             // huidige positie = current position
}

float Encoder2 ()
{
     Huidigepositie2 = motor2.getPosition ();
    return Huidigepositie2;             // huidige positie = current position
}

void MeasureAndControl(void)
{
    // RKI aanroepen
    SetpointRobot();
    RKI();
    // hier the control of the control system
     //refP = GetReferencePosition(); 
     Huidigepositie = Encoder(); 
     Aerror = (Motor1Set - Huidigepositie);// make an error
     motorValue = FeedBackControl(Aerror, e_prev, e_int);
    SetMotor1(motorValue);

    // hier the control of the control system
     //refP2 = GetReferencePosition2(); 
     Huidigepositie2 = Encoder2(); 
     Aerror2 = (Motor2Set - Huidigepositie2);// make an error
     motorValue2 = FeedBackControl2(Aerror2, e_prev2, e_int2);
    SetMotor2(motorValue2);
    
    pc.baud(115200);
    pc.printf("SetPx = %f, SetPy = %f\r\n potmeter = %f, refP = %f, huidigepositie = %f, error = %f, motorvalue = %f \r\npotmeter2 = %f, refP2 = %f, huidigepositie2 = %f, error2 = %f, motorvalue2 = %f \r\n", SetPx, SetPy, Potmeterwaarde1, Motor1Set, Huidigepositie, Aerror, motorValue, Potmeterwaarde2, Motor2Set, Huidigepositie2, Aerror2, motorValue2);
}


int main()
{
    M1E.period(PwmPeriod);
    M2E.period(PwmPeriod2);
    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.
    //DubbelTreecko.attach(MeasureAndControl2, Ts);
     
     
    while(1) 
    {
        wait(0.2);
        //pc.printf("Potmeter2 = %f, refP = %f, motorValue = %f,  \r\nPotmeter1 = %f, refP2 = %f, motorValue2 = %f \r\n", Potmeterwaarde, refP, motorValue, potmeterwaarde2, refP2, motorValue2);
        //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
    }
}