testcode pid
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of testPID by
main.cpp@23:e9b1b426cde6, 2015-10-13 (annotated)
- Committer:
- Vigilance88
- Date:
- Tue Oct 13 12:57:33 2015 +0000
- Revision:
- 23:e9b1b426cde6
- Parent:
- 22:1ba637601dc3
- Child:
- 24:56db31267f10
fixed calibrate_arm;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
Vigilance88 | 18:44905b008f44 | 3 | #include "MODSERIAL.h" |
Vigilance88 | 18:44905b008f44 | 4 | #include "biquadFilter.h" |
Vigilance88 | 18:44905b008f44 | 5 | #include "QEI.h" |
Vigilance88 | 21:d6a46315d5f5 | 6 | #include "math.h" |
Vigilance88 | 21:d6a46315d5f5 | 7 | |
Vigilance88 | 21:d6a46315d5f5 | 8 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 9 | -------------------------------- BIOROBOTICS GROUP 14 ---------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 10 | --------------------------------------------------------------------------------------------------------------------*/ |
vsluiter | 0:32bb76391d89 | 11 | |
Vigilance88 | 18:44905b008f44 | 12 | //Define important constants in memory |
Vigilance88 | 21:d6a46315d5f5 | 13 | #define PI 3.14159265 |
Vigilance88 | 18:44905b008f44 | 14 | #define SAMPLE_RATE 0.002 //500 Hz EMG sample rate |
Vigilance88 | 18:44905b008f44 | 15 | #define CONTROL_RATE 0.01 //100 Hz Control rate |
Vigilance88 | 21:d6a46315d5f5 | 16 | #define ENCODER1_CPR 4200 //encoders have 64 (X4), 32 (X2) counts per revolution of motor shaft |
Vigilance88 | 21:d6a46315d5f5 | 17 | #define ENCODER2_CPR 4200 //gearbox 1:131.25 -> 4200 counts per revolution of the output shaft (X2), |
Vigilance88 | 18:44905b008f44 | 18 | |
Vigilance88 | 21:d6a46315d5f5 | 19 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 20 | ---- OBJECTS --------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 21 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 22 | |
Vigilance88 | 18:44905b008f44 | 23 | MODSERIAL pc(USBTX,USBRX); //serial communication |
Vigilance88 | 18:44905b008f44 | 24 | DigitalIn button(PTA1); //buttons |
Vigilance88 | 18:44905b008f44 | 25 | DigitalIn button1(PTB9); // |
Vigilance88 | 18:44905b008f44 | 26 | |
Vigilance88 | 21:d6a46315d5f5 | 27 | //EMG shields |
Vigilance88 | 18:44905b008f44 | 28 | AnalogIn emg1(A0); //Analog input - Biceps EMG |
Vigilance88 | 18:44905b008f44 | 29 | AnalogIn emg2(A1); //Analog input - Triceps EMG |
Vigilance88 | 18:44905b008f44 | 30 | AnalogIn emg3(A2); //Analog input - Flexor EMG |
Vigilance88 | 18:44905b008f44 | 31 | AnalogIn emg4(A3); //Analog input - Extensor EMG |
Vigilance88 | 18:44905b008f44 | 32 | |
Vigilance88 | 18:44905b008f44 | 33 | Ticker sample_timer; //Ticker for EMG sampling |
Vigilance88 | 18:44905b008f44 | 34 | Ticker control_timer; //Ticker for control loop |
Vigilance88 | 18:44905b008f44 | 35 | HIDScope scope(4); //Scope 4 channels |
Vigilance88 | 18:44905b008f44 | 36 | |
Vigilance88 | 18:44905b008f44 | 37 | // AnalogIn potmeter(A4); //potmeters |
Vigilance88 | 18:44905b008f44 | 38 | // AnalogIn potmeter2(A5); // |
Vigilance88 | 18:44905b008f44 | 39 | |
Vigilance88 | 21:d6a46315d5f5 | 40 | //Encoders |
Vigilance88 | 18:44905b008f44 | 41 | QEI Encoder1(D13,D12,NC,32); //channel A and B from encoder, counts = Encoder.getPulses(); |
Vigilance88 | 18:44905b008f44 | 42 | QEI Encoder2(D10,D9,NC,32); //channel A and B from encoder, |
Vigilance88 | 21:d6a46315d5f5 | 43 | |
Vigilance88 | 21:d6a46315d5f5 | 44 | //Speed and Direction of motors - D4 (dir) and D5(speed) = motor 2, D7(dir) and D6(speed) = motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 45 | PwmOut pwm_motor1(D6); //PWM motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 46 | PwmOut pwm_motor2(D5); //PWM motor 2 |
Vigilance88 | 18:44905b008f44 | 47 | DigitalOut dir_motor1(D7); //Direction motor 1 |
Vigilance88 | 18:44905b008f44 | 48 | DigitalOut dir_motor2(D4); //Direction motor 2 |
Vigilance88 | 18:44905b008f44 | 49 | |
Vigilance88 | 18:44905b008f44 | 50 | //Filters |
Vigilance88 | 21:d6a46315d5f5 | 51 | //Syntax: biquadFilter filter(a1, a2, b0, b1, b2); coefficients. Call with: filter.step(u), with u signal to be filtered. |
Vigilance88 | 21:d6a46315d5f5 | 52 | biquadFilter highpass( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // removes DC and movement artefacts |
Vigilance88 | 21:d6a46315d5f5 | 53 | biquadFilter notch1( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // removes 49-51 Hz power interference |
Vigilance88 | 21:d6a46315d5f5 | 54 | biquadFilter notch2( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // |
Vigilance88 | 21:d6a46315d5f5 | 55 | biquadFilter lowpass( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // EMG envelope |
Vigilance88 | 21:d6a46315d5f5 | 56 | biquadFilter derfilter( 0.0009446914586925257 , 0.0018893829173850514 , 0.0009446914586925257 , -1.911196288237583 , 0.914975054072353 ); // derivative filter |
Vigilance88 | 21:d6a46315d5f5 | 57 | |
Vigilance88 | 21:d6a46315d5f5 | 58 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 59 | ---- DECLARE VARIABLES ----------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 60 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 61 | |
Vigilance88 | 21:d6a46315d5f5 | 62 | //EMG variables |
Vigilance88 | 21:d6a46315d5f5 | 63 | double biceps_power; double bicepsMVC = 0; |
Vigilance88 | 21:d6a46315d5f5 | 64 | double triceps_power; double tricepsMVC = 0; |
Vigilance88 | 21:d6a46315d5f5 | 65 | double flexor_power; double flexorMVC = 0; |
Vigilance88 | 21:d6a46315d5f5 | 66 | double extens_power; double extensorMVC = 0; |
Vigilance88 | 21:d6a46315d5f5 | 67 | |
Vigilance88 | 21:d6a46315d5f5 | 68 | |
Vigilance88 | 21:d6a46315d5f5 | 69 | |
Vigilance88 | 21:d6a46315d5f5 | 70 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 71 | ---- DECLARE FUNCTION NAMES------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 72 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 73 | void keep_in_range(float * in, float min, float max); |
Vigilance88 | 21:d6a46315d5f5 | 74 | void sample_filter(void); |
Vigilance88 | 21:d6a46315d5f5 | 75 | void control(); |
Vigilance88 | 21:d6a46315d5f5 | 76 | void calibrate_emg(int muscle); |
Vigilance88 | 21:d6a46315d5f5 | 77 | void calibrate_arm(void); |
Vigilance88 | 21:d6a46315d5f5 | 78 | void start_sampling(void); |
Vigilance88 | 21:d6a46315d5f5 | 79 | void stop_sampling(void); |
Vigilance88 | 21:d6a46315d5f5 | 80 | void start_control(void); |
Vigilance88 | 21:d6a46315d5f5 | 81 | void stop_control(void); |
Vigilance88 | 21:d6a46315d5f5 | 82 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev); |
Vigilance88 | 18:44905b008f44 | 83 | |
Vigilance88 | 21:d6a46315d5f5 | 84 | void mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 85 | void caliMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 86 | |
Vigilance88 | 21:d6a46315d5f5 | 87 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 88 | ---- MAIN LOOP ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 89 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 21:d6a46315d5f5 | 90 | |
Vigilance88 | 21:d6a46315d5f5 | 91 | int main() |
Vigilance88 | 21:d6a46315d5f5 | 92 | { |
Vigilance88 | 21:d6a46315d5f5 | 93 | // make a menu, user has to initiated next step |
Vigilance88 | 21:d6a46315d5f5 | 94 | mainMenu(); |
Vigilance88 | 21:d6a46315d5f5 | 95 | caliMenu(); // Menu function |
Vigilance88 | 21:d6a46315d5f5 | 96 | calibrate_arm(); //Start Calibration |
Vigilance88 | 21:d6a46315d5f5 | 97 | start_sampling(); //500 Hz EMG |
Vigilance88 | 21:d6a46315d5f5 | 98 | calibrate_emg(1); |
Vigilance88 | 21:d6a46315d5f5 | 99 | start_control(); //100 Hz control |
Vigilance88 | 21:d6a46315d5f5 | 100 | |
Vigilance88 | 21:d6a46315d5f5 | 101 | //maybe some stop commands when a button is pressed: detach from timers. |
Vigilance88 | 21:d6a46315d5f5 | 102 | //stop_control(); |
Vigilance88 | 21:d6a46315d5f5 | 103 | //stop_sampling(); |
Vigilance88 | 21:d6a46315d5f5 | 104 | |
Vigilance88 | 21:d6a46315d5f5 | 105 | while(1) { |
Vigilance88 | 21:d6a46315d5f5 | 106 | scope.set(0,emg_biceps); |
Vigilance88 | 21:d6a46315d5f5 | 107 | scope.set(1,emg_triceps); |
Vigilance88 | 21:d6a46315d5f5 | 108 | scope.set(2,emg_flexor); |
Vigilance88 | 21:d6a46315d5f5 | 109 | scope.set(3,emg_extens); |
Vigilance88 | 21:d6a46315d5f5 | 110 | scope.send(); |
Vigilance88 | 21:d6a46315d5f5 | 111 | } |
Vigilance88 | 21:d6a46315d5f5 | 112 | //end of while loop |
Vigilance88 | 21:d6a46315d5f5 | 113 | } |
Vigilance88 | 21:d6a46315d5f5 | 114 | //end of main |
Vigilance88 | 21:d6a46315d5f5 | 115 | |
Vigilance88 | 21:d6a46315d5f5 | 116 | /*-------------------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 117 | ---- FUNCTIONS ------------------------------------------------------------------------------------------------------- |
Vigilance88 | 21:d6a46315d5f5 | 118 | --------------------------------------------------------------------------------------------------------------------*/ |
Vigilance88 | 18:44905b008f44 | 119 | |
Vigilance88 | 18:44905b008f44 | 120 | //Start sampling |
Vigilance88 | 18:44905b008f44 | 121 | void start_sampling(void) |
Vigilance88 | 18:44905b008f44 | 122 | { |
Vigilance88 | 21:d6a46315d5f5 | 123 | sample_timer.attach(&sample_filter,SAMPLE_RATE); //500 Hz EMG |
Vigilance88 | 18:44905b008f44 | 124 | } |
Vigilance88 | 18:44905b008f44 | 125 | |
Vigilance88 | 18:44905b008f44 | 126 | //stop sampling |
Vigilance88 | 18:44905b008f44 | 127 | void stop_sampling(void) |
Vigilance88 | 18:44905b008f44 | 128 | { |
Vigilance88 | 18:44905b008f44 | 129 | sample_timer.detach(); |
Vigilance88 | 18:44905b008f44 | 130 | } |
vsluiter | 2:e314bb3b2d99 | 131 | |
Vigilance88 | 21:d6a46315d5f5 | 132 | //Sample and Filter |
Vigilance88 | 21:d6a46315d5f5 | 133 | void sample_filter(void) |
Vigilance88 | 18:44905b008f44 | 134 | { |
Vigilance88 | 21:d6a46315d5f5 | 135 | double emg_biceps = emg1.read(); //Biceps |
Vigilance88 | 21:d6a46315d5f5 | 136 | double emg_triceps = emg2.read(); //Triceps |
Vigilance88 | 21:d6a46315d5f5 | 137 | double emg_flexor = emg3.read(); //Flexor |
Vigilance88 | 21:d6a46315d5f5 | 138 | double emg_extens = emg4.read(); //Extensor |
Vigilance88 | 21:d6a46315d5f5 | 139 | |
Vigilance88 | 21:d6a46315d5f5 | 140 | //Filter: high-pass -> notch -> rectify -> lowpass or moving average |
Vigilance88 | 22:1ba637601dc3 | 141 | // Can we use same biquadFilter (eg. highpass) for other muscles or does each muscle need its own biquad? |
Vigilance88 | 21:d6a46315d5f5 | 142 | biceps_power = highpass.step(emg_biceps); triceps_power = highpass.step(emg_triceps); flexor_power = highpass.step(emg_flexor); extens_power = highpass.step(emg_extens); |
Vigilance88 | 21:d6a46315d5f5 | 143 | biceps_power = notch1.step(biceps_power); triceps_power = notch1.step(triceps_power); flexor_power = notch1.step(flexor_power); extens_power = notch1.step(extens_power); |
Vigilance88 | 21:d6a46315d5f5 | 144 | biceps_power = notch2.step(biceps_power); triceps_power = notch2.step(triceps_power); flexor_power = notch2.step(flexor_power); extens_power = notch2.step(extens_power); |
Vigilance88 | 21:d6a46315d5f5 | 145 | biceps_power = abs(biceps_power); triceps_power = abs(triceps_power); flexor_power = abs(flexor_power); extens_power = abs(extens_power); |
Vigilance88 | 21:d6a46315d5f5 | 146 | biceps_power = lowpass.step(biceps_power); triceps_power = lowpass.step(triceps_power); flexor_power = lowpass.step(flexor_power); extens_power = lowpass.step(extens_power); |
Vigilance88 | 21:d6a46315d5f5 | 147 | |
Vigilance88 | 21:d6a46315d5f5 | 148 | /* alternative for lowpass filter: moving average |
Vigilance88 | 21:d6a46315d5f5 | 149 | window=30; //30 samples |
Vigilance88 | 21:d6a46315d5f5 | 150 | int i=0; //buffer index |
Vigilance88 | 21:d6a46315d5f5 | 151 | bicepsbuffer[i]=biceps_power //fill array |
Vigilance88 | 21:d6a46315d5f5 | 152 | |
Vigilance88 | 21:d6a46315d5f5 | 153 | i++; |
Vigilance88 | 21:d6a46315d5f5 | 154 | if(i==window){ |
Vigilance88 | 21:d6a46315d5f5 | 155 | i=0; |
Vigilance88 | 21:d6a46315d5f5 | 156 | } |
Vigilance88 | 21:d6a46315d5f5 | 157 | |
Vigilance88 | 21:d6a46315d5f5 | 158 | */ |
Vigilance88 | 21:d6a46315d5f5 | 159 | |
Vigilance88 | 21:d6a46315d5f5 | 160 | |
Vigilance88 | 21:d6a46315d5f5 | 161 | |
Vigilance88 | 18:44905b008f44 | 162 | } |
Vigilance88 | 18:44905b008f44 | 163 | |
Vigilance88 | 18:44905b008f44 | 164 | //Send arm to mechanical limits, and set encoder to 0. Then send arm to starting position. |
Vigilance88 | 19:0a3ee31dcdb4 | 165 | void calibrate_arm(void) |
Vigilance88 | 19:0a3ee31dcdb4 | 166 | { |
Vigilance88 | 22:1ba637601dc3 | 167 | dir_motor1=1; //ccw |
Vigilance88 | 22:1ba637601dc3 | 168 | dir_motor2=1; //ccw |
Vigilance88 | 22:1ba637601dc3 | 169 | while(limitswitch != hit){ |
Vigilance88 | 22:1ba637601dc3 | 170 | pwm_motor1.write(0.4); |
Vigilance88 | 22:1ba637601dc3 | 171 | pwm_motor2.write(0.4); |
Vigilance88 | 22:1ba637601dc3 | 172 | } |
Vigilance88 | 23:e9b1b426cde6 | 173 | encoder1.reset(); |
Vigilance88 | 23:e9b1b426cde6 | 174 | encoder2.reset(); |
Vigilance88 | 19:0a3ee31dcdb4 | 175 | } |
Vigilance88 | 19:0a3ee31dcdb4 | 176 | |
Vigilance88 | 21:d6a46315d5f5 | 177 | //EMG Maximum Voluntary Contraction measurement |
Vigilance88 | 21:d6a46315d5f5 | 178 | void calibrate_emg(int muscle) |
Vigilance88 | 18:44905b008f44 | 179 | { |
Vigilance88 | 21:d6a46315d5f5 | 180 | if(muscle==1){ |
Vigilance88 | 21:d6a46315d5f5 | 181 | start_sampling(); |
Vigilance88 | 22:1ba637601dc3 | 182 | wait(1); |
Vigilance88 | 21:d6a46315d5f5 | 183 | |
Vigilance88 | 21:d6a46315d5f5 | 184 | for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples |
Vigilance88 | 21:d6a46315d5f5 | 185 | if(biceps_power>bicepsMVC){ |
Vigilance88 | 21:d6a46315d5f5 | 186 | bicepsMVC=biceps_power; |
Vigilance88 | 21:d6a46315d5f5 | 187 | } |
Vigilance88 | 21:d6a46315d5f5 | 188 | } |
Vigilance88 | 21:d6a46315d5f5 | 189 | stop_sampling(); |
Vigilance88 | 21:d6a46315d5f5 | 190 | } |
Vigilance88 | 21:d6a46315d5f5 | 191 | |
Vigilance88 | 21:d6a46315d5f5 | 192 | if(muscle==2){ |
Vigilance88 | 21:d6a46315d5f5 | 193 | start_sampling(); |
Vigilance88 | 22:1ba637601dc3 | 194 | wait(1); |
Vigilance88 | 21:d6a46315d5f5 | 195 | |
Vigilance88 | 21:d6a46315d5f5 | 196 | for(int index=0; index<2500;index++){ //measure 5 seconds@500hz = 2500 samples |
Vigilance88 | 21:d6a46315d5f5 | 197 | if(triceps_power>tricepsMVC){ |
Vigilance88 | 21:d6a46315d5f5 | 198 | tricepsMVC=triceps_power; |
Vigilance88 | 21:d6a46315d5f5 | 199 | } |
Vigilance88 | 21:d6a46315d5f5 | 200 | } |
Vigilance88 | 21:d6a46315d5f5 | 201 | stop_sampling(); |
Vigilance88 | 21:d6a46315d5f5 | 202 | } |
Vigilance88 | 18:44905b008f44 | 203 | } |
Vigilance88 | 18:44905b008f44 | 204 | |
Vigilance88 | 18:44905b008f44 | 205 | |
Vigilance88 | 18:44905b008f44 | 206 | //Input error and Kp, Kd, Ki, output control signal |
Vigilance88 | 20:0ede3818e08e | 207 | double pid(double error, double kp, double ki, double kd,double &e_int, double &e_prev) |
vsluiter | 2:e314bb3b2d99 | 208 | { |
Vigilance88 | 20:0ede3818e08e | 209 | // Derivative |
Vigilance88 | 21:d6a46315d5f5 | 210 | double e_der = (error-e_prev)/CONTROL_RATE; |
Vigilance88 | 21:d6a46315d5f5 | 211 | e_der = derfilter.step(e_der); |
Vigilance88 | 21:d6a46315d5f5 | 212 | e_prev = error; |
Vigilance88 | 20:0ede3818e08e | 213 | // Integral |
Vigilance88 | 21:d6a46315d5f5 | 214 | e_int = e_int+CONTROL_RATE*error; |
Vigilance88 | 20:0ede3818e08e | 215 | // PID |
Vigilance88 | 21:d6a46315d5f5 | 216 | return kp*error + ki*e_int + kd * e_der; |
Vigilance88 | 20:0ede3818e08e | 217 | |
Vigilance88 | 18:44905b008f44 | 218 | } |
Vigilance88 | 18:44905b008f44 | 219 | |
Vigilance88 | 20:0ede3818e08e | 220 | //Analyze filtered EMG, calculate reference position from EMG, compare reference position with current position,convert to angles, send error through pid(), send PWM and DIR to motors |
Vigilance88 | 18:44905b008f44 | 221 | void control() |
Vigilance88 | 18:44905b008f44 | 222 | { |
Vigilance88 | 20:0ede3818e08e | 223 | //analyze emg (= velocity, averages?) |
Vigilance88 | 18:44905b008f44 | 224 | |
Vigilance88 | 18:44905b008f44 | 225 | //calculate reference position based on the average emg (integrate) |
Vigilance88 | 18:44905b008f44 | 226 | |
Vigilance88 | 18:44905b008f44 | 227 | //calculate error (refpos-currentpos) currentpos = forward kinematics |
Vigilance88 | 18:44905b008f44 | 228 | |
Vigilance88 | 18:44905b008f44 | 229 | //inverse kinematics (pos error to angle error) |
Vigilance88 | 18:44905b008f44 | 230 | |
Vigilance88 | 18:44905b008f44 | 231 | //PID controller |
Vigilance88 | 21:d6a46315d5f5 | 232 | double error=0;double kp=0;double ki=0;double kd=0;double e_int=0;double e_prev=0; |
Vigilance88 | 21:d6a46315d5f5 | 233 | u1=pid(error,kp,ki,kd,e_int,e_prev); //motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 234 | u2=pid(error,kp,ki,kd,e_int,e_prev); //motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 235 | |
Vigilance88 | 21:d6a46315d5f5 | 236 | keep_in_range(&u1,-1,1); //keep u between -1 and 1, sign = direction, PWM = 0-1 |
Vigilance88 | 21:d6a46315d5f5 | 237 | keep_in_range(&u2,-1,1); |
Vigilance88 | 21:d6a46315d5f5 | 238 | |
Vigilance88 | 21:d6a46315d5f5 | 239 | //send PWM and DIR to motor 1 |
Vigilance88 | 21:d6a46315d5f5 | 240 | dir_motor1 = u1>0 ? 1 : 0; //conditional statement dir_motor1 = [condition] ? [if met 1] : [else 0]], same as if else below. |
Vigilance88 | 21:d6a46315d5f5 | 241 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 242 | |
Vigilance88 | 21:d6a46315d5f5 | 243 | //send PWM and DIR to motor 2 |
Vigilance88 | 21:d6a46315d5f5 | 244 | dir_motor1 = u2>0 ? 1 : 0; //conditional statement, same as if else below |
Vigilance88 | 21:d6a46315d5f5 | 245 | pwm_motor1.write(abs(u2)); |
Vigilance88 | 21:d6a46315d5f5 | 246 | |
Vigilance88 | 21:d6a46315d5f5 | 247 | /*if(u1 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 248 | { |
Vigilance88 | 21:d6a46315d5f5 | 249 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 250 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 251 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 252 | } |
Vigilance88 | 21:d6a46315d5f5 | 253 | } |
Vigilance88 | 21:d6a46315d5f5 | 254 | pwm_motor1.write(abs(u1)); |
Vigilance88 | 21:d6a46315d5f5 | 255 | |
Vigilance88 | 21:d6a46315d5f5 | 256 | |
Vigilance88 | 21:d6a46315d5f5 | 257 | if(u2 > 0) |
Vigilance88 | 21:d6a46315d5f5 | 258 | { |
Vigilance88 | 21:d6a46315d5f5 | 259 | dir_motor1 = 1; |
Vigilance88 | 21:d6a46315d5f5 | 260 | else{ |
Vigilance88 | 21:d6a46315d5f5 | 261 | dir_motor1 = 0; |
Vigilance88 | 21:d6a46315d5f5 | 262 | } |
Vigilance88 | 21:d6a46315d5f5 | 263 | } |
Vigilance88 | 21:d6a46315d5f5 | 264 | pwm_motor1.write(abs(u2));*/ |
Vigilance88 | 21:d6a46315d5f5 | 265 | |
Vigilance88 | 18:44905b008f44 | 266 | } |
Vigilance88 | 18:44905b008f44 | 267 | |
Vigilance88 | 18:44905b008f44 | 268 | //Start control |
Vigilance88 | 18:44905b008f44 | 269 | void start_control(void) |
Vigilance88 | 18:44905b008f44 | 270 | { |
Vigilance88 | 21:d6a46315d5f5 | 271 | control_timer.attach(&control,SAMPLE_RATE); //100 Hz control |
Vigilance88 | 18:44905b008f44 | 272 | } |
Vigilance88 | 18:44905b008f44 | 273 | |
Vigilance88 | 18:44905b008f44 | 274 | //stop control |
Vigilance88 | 18:44905b008f44 | 275 | void stop_control(void) |
Vigilance88 | 18:44905b008f44 | 276 | { |
Vigilance88 | 18:44905b008f44 | 277 | control_timer.detach(); |
vsluiter | 2:e314bb3b2d99 | 278 | } |
vsluiter | 0:32bb76391d89 | 279 | |
Vigilance88 | 21:d6a46315d5f5 | 280 | |
Vigilance88 | 21:d6a46315d5f5 | 281 | void calibrate() |
vsluiter | 0:32bb76391d89 | 282 | { |
Vigilance88 | 21:d6a46315d5f5 | 283 | |
Vigilance88 | 21:d6a46315d5f5 | 284 | } |
tomlankhorst | 15:0da764eea774 | 285 | |
Vigilance88 | 21:d6a46315d5f5 | 286 | |
Vigilance88 | 21:d6a46315d5f5 | 287 | //keeps input limited between min max |
Vigilance88 | 18:44905b008f44 | 288 | void keep_in_range(float * in, float min, float max) |
Vigilance88 | 18:44905b008f44 | 289 | { |
Vigilance88 | 18:44905b008f44 | 290 | *in > min ? *in < max? : *in = max: *in = min; |
vsluiter | 0:32bb76391d89 | 291 | } |