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Dependencies: AnglePosition2 Encoder FastPWM HIDScope MODSERIAL Movement PIDController Servo SignalNumber biquadFilter mbed
Fork of Robot_control by
main.cpp@7:105e3ae0fb19, 2017-11-01 (annotated)
- Committer:
- peterknoben
- Date:
- Wed Nov 01 14:11:58 2017 +0000
- Revision:
- 7:105e3ae0fb19
- Parent:
- 6:edd30e11f3c7
- Child:
- 8:24f6744d47b2
fa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
peterknoben | 3:c768a37620c9 | 1 | #include "MODSERIAL.h" |
peterknoben | 1:406519ff0f17 | 2 | #include "AnglePosition.h" |
peterknoben | 1:406519ff0f17 | 3 | #include "PIDControl.h" |
peterknoben | 3:c768a37620c9 | 4 | #include "BiQuad.h" |
peterknoben | 3:c768a37620c9 | 5 | #include "signalnumber.h" |
peterknoben | 4:e15fc329b88b | 6 | #include "Movement.h" |
DBerendsen | 0:5f4bc2d63814 | 7 | #include "mbed.h" |
DBerendsen | 0:5f4bc2d63814 | 8 | #include "encoder.h" |
DBerendsen | 0:5f4bc2d63814 | 9 | #include "Servo.h" |
peterknoben | 1:406519ff0f17 | 10 | #include "FastPWM.h" |
DBerendsen | 0:5f4bc2d63814 | 11 | |
peterknoben | 4:e15fc329b88b | 12 | //This code is for Mbed 2 |
DBerendsen | 0:5f4bc2d63814 | 13 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 14 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 15 | //------------------------------------------------------------------------------ |
peterknoben | 3:c768a37620c9 | 16 | MODSERIAL pc(USBTX, USBRX); //Establish connection |
peterknoben | 5:b4abbd3c513c | 17 | Ticker MyControllerTicker; //Declare Ticker Motor 1 |
peterknoben | 5:b4abbd3c513c | 18 | Ticker MyTickerMode; //Declare Ticker Motor 2 |
peterknoben | 3:c768a37620c9 | 19 | Ticker MyTickerMean; //Declare Ticker Signalprocessing |
peterknoben | 3:c768a37620c9 | 20 | |
peterknoben | 4:e15fc329b88b | 21 | InterruptIn But2(PTA4); //Declare button for min calibration |
peterknoben | 4:e15fc329b88b | 22 | InterruptIn But1(PTC6); //Declare button for max calibration |
peterknoben | 6:edd30e11f3c7 | 23 | InterruptIn Mode(D7); |
peterknoben | 3:c768a37620c9 | 24 | |
peterknoben | 1:406519ff0f17 | 25 | AnglePosition Angle; //Declare Angle calculater |
peterknoben | 1:406519ff0f17 | 26 | PIDControl PID; //Declare PID Controller |
peterknoben | 4:e15fc329b88b | 27 | SignalNumber SignalLeft; //Declare Signal determiner for Left arm |
peterknoben | 4:e15fc329b88b | 28 | SignalNumber SignalRight; //Declare Signal determiner for Right arm |
peterknoben | 5:b4abbd3c513c | 29 | SignalNumber SignalMode; |
peterknoben | 4:e15fc329b88b | 30 | Movement MoveLeft; //Declare Movement determiner |
peterknoben | 4:e15fc329b88b | 31 | Movement MoveRight; |
peterknoben | 3:c768a37620c9 | 32 | |
peterknoben | 4:e15fc329b88b | 33 | AnalogIn emg0( A0 ); //Set Inputpin for EMG 0 signal Left |
peterknoben | 5:b4abbd3c513c | 34 | //AnalogIn emg1( A1 ); //Set Inputpin for EMG 1 signal Left |
peterknoben | 4:e15fc329b88b | 35 | AnalogIn emg2( A2 ); //Set Inputpin for EMG 2 signal Right |
peterknoben | 5:b4abbd3c513c | 36 | //AnalogIn emg3( A3 ); //Set Inputpin for EMG 3 signal Right |
peterknoben | 4:e15fc329b88b | 37 | AnalogIn emg4( A4 ); //Set Inputpin for EMG 4 signal Mode |
peterknoben | 5:b4abbd3c513c | 38 | //AnalogIn emg5( A5 ); //Set Inputpin for EMG 5 signal Mode |
peterknoben | 5:b4abbd3c513c | 39 | DigitalOut Up( D9 ); //Set digital in for mode selection |
peterknoben | 5:b4abbd3c513c | 40 | DigitalOut Down( D8 ); |
peterknoben | 4:e15fc329b88b | 41 | DigitalOut Led_red(LED_RED); |
peterknoben | 4:e15fc329b88b | 42 | DigitalOut Led_green(LED_GREEN); |
peterknoben | 4:e15fc329b88b | 43 | DigitalOut Led_blue(LED_BLUE); |
peterknoben | 6:edd30e11f3c7 | 44 | DigitalOut test(D2); |
peterknoben | 1:406519ff0f17 | 45 | |
peterknoben | 1:406519ff0f17 | 46 | const float CONTROLLER_TS = 0.02; //Motor frequency |
peterknoben | 4:e15fc329b88b | 47 | const float MEAN_TS = 0.002; //Filter frequency |
peterknoben | 4:e15fc329b88b | 48 | |
peterknoben | 3:c768a37620c9 | 49 | |
peterknoben | 3:c768a37620c9 | 50 | //------------------------------------------------------------------------------ |
peterknoben | 3:c768a37620c9 | 51 | //-----------------------------EMG Signals-------------------------------------- |
peterknoben | 3:c768a37620c9 | 52 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 53 | // Filtering the signal and getting the usefull information out of it. |
peterknoben | 4:e15fc329b88b | 54 | const int n = 400; //Window size for the mean value, also adjust in signalnumber.cpp |
peterknoben | 3:c768a37620c9 | 55 | const int action =50; //Number of same mean values to change the signalnumber |
peterknoben | 6:edd30e11f3c7 | 56 | const int m = 400; //Number of samples for calibration |
peterknoben | 5:b4abbd3c513c | 57 | int CaseLeft, CaseRight, CaseMode; //Strength of the muscles |
peterknoben | 5:b4abbd3c513c | 58 | float emg_offsetLeft, emg_offsetmaxLeft; //Calibration offsets from zero to one for the left arm |
peterknoben | 5:b4abbd3c513c | 59 | float emg_offsetRight, emg_offsetmaxRight; //Calibration offsets from zero to one for the right arm |
peterknoben | 5:b4abbd3c513c | 60 | float emg_offsetMode, emg_offsetmaxMode; |
peterknoben | 5:b4abbd3c513c | 61 | float mean_value_left, mean_value_right, mean_value_mode; //Mean value of the filtered system |
peterknoben | 5:b4abbd3c513c | 62 | float kLeft, kRight, kMode; //Scaling factors |
peterknoben | 6:edd30e11f3c7 | 63 | float Signal_filteredLeft, Signal_filteredRight, Signal_filteredMode; |
peterknoben | 3:c768a37620c9 | 64 | |
peterknoben | 4:e15fc329b88b | 65 | //BiQuad filter variables |
peterknoben | 6:edd30e11f3c7 | 66 | BiQuad LP1L( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 67 | BiQuad HP2L( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 68 | BiQuad NO3L( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad |
peterknoben | 6:edd30e11f3c7 | 69 | BiQuad LP1R( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 70 | BiQuad HP2R( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 71 | BiQuad NO3R( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad |
peterknoben | 6:edd30e11f3c7 | 72 | BiQuad LP1M( 0.6389437261127493, 1.2778874522254986, 0.6389437261127493, 1.1429772843080919, 0.4127976201429053 ); //Lowpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 73 | BiQuad HP2M( 0.8370879899975344, -1.6741759799950688, 0.8370879899975344, -1.6474576182593796, 0.7008943417307579 ); //Highpass filter Biquad |
peterknoben | 6:edd30e11f3c7 | 74 | BiQuad NO3M( 0.7063988100714527, -1.1429772843080923, 0.7063988100714527, -1.1429772843080923, 0.41279762014290533); //Notch filter Biquad |
peterknoben | 6:edd30e11f3c7 | 75 | BiQuadChain BiQuad_filter_Left; |
peterknoben | 6:edd30e11f3c7 | 76 | BiQuadChain BiQuad_filter_Right; |
peterknoben | 6:edd30e11f3c7 | 77 | BiQuadChain BiQuad_filter_Mode; |
peterknoben | 3:c768a37620c9 | 78 | |
peterknoben | 7:105e3ae0fb19 | 79 | float FilterLeft(float input){ |
peterknoben | 7:105e3ae0fb19 | 80 | float Signal_filtered= BiQuad_filter_Left.step(input); |
peterknoben | 7:105e3ae0fb19 | 81 | return Signal_filtered; |
peterknoben | 7:105e3ae0fb19 | 82 | } |
peterknoben | 7:105e3ae0fb19 | 83 | float FilterRight(float input){ |
peterknoben | 7:105e3ae0fb19 | 84 | float Signal_filtered= BiQuad_filter_Right.step(input); |
peterknoben | 7:105e3ae0fb19 | 85 | return Signal_filtered; |
peterknoben | 7:105e3ae0fb19 | 86 | } |
peterknoben | 7:105e3ae0fb19 | 87 | float FilterMode(float input){ |
peterknoben | 7:105e3ae0fb19 | 88 | float Signal_filtered= BiQuad_filter_Mode.step(input); |
peterknoben | 7:105e3ae0fb19 | 89 | return Signal_filtered; |
peterknoben | 7:105e3ae0fb19 | 90 | } |
peterknoben | 5:b4abbd3c513c | 91 | |
peterknoben | 5:b4abbd3c513c | 92 | //Calibration------------------------------------------------------------------- |
peterknoben | 4:e15fc329b88b | 93 | void setled(){ |
peterknoben | 5:b4abbd3c513c | 94 | Led_red=0; Led_green=1; Led_blue=1; |
peterknoben | 5:b4abbd3c513c | 95 | } |
peterknoben | 5:b4abbd3c513c | 96 | // Zero calibration |
peterknoben | 5:b4abbd3c513c | 97 | void mincalibration(){ |
peterknoben | 5:b4abbd3c513c | 98 | pc.printf("start min calibration \r\n"); |
peterknoben | 7:105e3ae0fb19 | 99 | emg_offsetLeft = SignalLeft.calibrate(m,FilterLeft(emg0)); |
peterknoben | 7:105e3ae0fb19 | 100 | emg_offsetRight = SignalRight.calibrate(m,FilterRight(emg2)); |
peterknoben | 7:105e3ae0fb19 | 101 | emg_offsetMode = SignalMode.calibrate(m, FilterMode(emg4)); |
peterknoben | 5:b4abbd3c513c | 102 | pc.printf("offsets: %f %f \r\n", emg_offsetLeft, emg_offsetRight); |
peterknoben | 5:b4abbd3c513c | 103 | Led_green=0; Led_red=0; //Set led to Yellow |
peterknoben | 5:b4abbd3c513c | 104 | } |
peterknoben | 5:b4abbd3c513c | 105 | // One calibration |
peterknoben | 5:b4abbd3c513c | 106 | void maxcalibration(){ |
peterknoben | 5:b4abbd3c513c | 107 | pc.printf("start max calibration \r\n"); |
peterknoben | 7:105e3ae0fb19 | 108 | emg_offsetmaxLeft = SignalLeft.calibrate(m, FilterLeft(emg0))-emg_offsetLeft; |
peterknoben | 7:105e3ae0fb19 | 109 | emg_offsetmaxRight = SignalRight.calibrate(m, FilterRight(emg2))-emg_offsetRight; |
peterknoben | 7:105e3ae0fb19 | 110 | emg_offsetmaxMode = SignalMode.calibrate(m, FilterMode(emg4))-emg_offsetMode; |
peterknoben | 5:b4abbd3c513c | 111 | kLeft = 1/emg_offsetmaxLeft; |
peterknoben | 5:b4abbd3c513c | 112 | kRight = 1/emg_offsetmaxRight; |
peterknoben | 5:b4abbd3c513c | 113 | kMode = 1/emg_offsetmaxMode; |
peterknoben | 5:b4abbd3c513c | 114 | pc.printf("offsets: %f %f, scale %f %f \r\n", emg_offsetmaxLeft, emg_offsetmaxRight, kLeft, kRight); |
peterknoben | 5:b4abbd3c513c | 115 | Led_red=1; //Set led to Green |
peterknoben | 3:c768a37620c9 | 116 | } |
peterknoben | 3:c768a37620c9 | 117 | |
peterknoben | 5:b4abbd3c513c | 118 | //Filtering the signals--------------------------------------------------------- |
peterknoben | 4:e15fc329b88b | 119 | //Filter de EMG signals with a BiQuad filter |
peterknoben | 7:105e3ae0fb19 | 120 | /* |
peterknoben | 6:edd30e11f3c7 | 121 | float FilterLeft(float input, float offset){ |
peterknoben | 6:edd30e11f3c7 | 122 | float Signal=(input-offset); //((input0+input1)/2) |
peterknoben | 6:edd30e11f3c7 | 123 | float Signal_filtered= BiQuad_filter_Left.step(Signal); |
peterknoben | 6:edd30e11f3c7 | 124 | return Signal_filtered; |
peterknoben | 6:edd30e11f3c7 | 125 | } |
peterknoben | 6:edd30e11f3c7 | 126 | float FilterRight(float input, float offset){ |
peterknoben | 5:b4abbd3c513c | 127 | float Signal=input-offset; //((input0+input1)/2) |
peterknoben | 6:edd30e11f3c7 | 128 | float Signal_filtered= BiQuad_filter_Right.step(Signal); |
peterknoben | 6:edd30e11f3c7 | 129 | return Signal_filtered; |
peterknoben | 6:edd30e11f3c7 | 130 | } |
peterknoben | 6:edd30e11f3c7 | 131 | float FilterMode(float input, float offset){ |
peterknoben | 6:edd30e11f3c7 | 132 | float Signal=input-offset; //((input0+input1)/2) |
peterknoben | 6:edd30e11f3c7 | 133 | float Signal_filtered= BiQuad_filter_Mode.step(Signal); |
peterknoben | 3:c768a37620c9 | 134 | return Signal_filtered; |
peterknoben | 3:c768a37620c9 | 135 | } |
peterknoben | 7:105e3ae0fb19 | 136 | */ |
peterknoben | 4:e15fc329b88b | 137 | |
peterknoben | 5:b4abbd3c513c | 138 | //------------------------------------------------------------------------------ |
peterknoben | 5:b4abbd3c513c | 139 | //---------------------------------Servo---------------------------------------- |
peterknoben | 5:b4abbd3c513c | 140 | //------------------------------------------------------------------------------ |
peterknoben | 5:b4abbd3c513c | 141 | void servo(){ |
peterknoben | 7:105e3ae0fb19 | 142 | Signal_filteredLeft = fabs(FilterLeft(emg0)-emg_offsetLeft);//*kLeft |
peterknoben | 7:105e3ae0fb19 | 143 | Signal_filteredRight = fabs(FilterRight(emg2)); //*kRight |
peterknoben | 7:105e3ae0fb19 | 144 | CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft); |
peterknoben | 7:105e3ae0fb19 | 145 | CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight); |
peterknoben | 5:b4abbd3c513c | 146 | if (CaseLeft>=3){ |
peterknoben | 6:edd30e11f3c7 | 147 | Up = 0; |
peterknoben | 6:edd30e11f3c7 | 148 | Up = 1; |
peterknoben | 5:b4abbd3c513c | 149 | } |
peterknoben | 5:b4abbd3c513c | 150 | else if (CaseRight >=3){ |
peterknoben | 6:edd30e11f3c7 | 151 | Down = 0; |
peterknoben | 5:b4abbd3c513c | 152 | Down = 1; |
peterknoben | 5:b4abbd3c513c | 153 | } |
peterknoben | 5:b4abbd3c513c | 154 | } |
peterknoben | 5:b4abbd3c513c | 155 | int milli =0; |
peterknoben | 5:b4abbd3c513c | 156 | |
peterknoben | 5:b4abbd3c513c | 157 | //------------------------------------------------------------------------------ |
peterknoben | 5:b4abbd3c513c | 158 | //---------------------------Mode selection------------------------------------- |
peterknoben | 5:b4abbd3c513c | 159 | //------------------------------------------------------------------------------ |
peterknoben | 5:b4abbd3c513c | 160 | int mode =0; |
peterknoben | 5:b4abbd3c513c | 161 | |
peterknoben | 5:b4abbd3c513c | 162 | //Recieving mode selection from EMG mode signal |
peterknoben | 5:b4abbd3c513c | 163 | void mode_selection(){ |
peterknoben | 5:b4abbd3c513c | 164 | if(mode ==6){ |
peterknoben | 5:b4abbd3c513c | 165 | mode=1; |
peterknoben | 5:b4abbd3c513c | 166 | } |
peterknoben | 5:b4abbd3c513c | 167 | else{ |
peterknoben | 5:b4abbd3c513c | 168 | mode++; |
peterknoben | 5:b4abbd3c513c | 169 | } |
peterknoben | 5:b4abbd3c513c | 170 | if (mode==3||mode==6){ |
peterknoben | 5:b4abbd3c513c | 171 | servo(); |
peterknoben | 5:b4abbd3c513c | 172 | } |
peterknoben | 5:b4abbd3c513c | 173 | pc.printf("\r\n mode = %i \r\n", mode); |
peterknoben | 5:b4abbd3c513c | 174 | } |
peterknoben | 5:b4abbd3c513c | 175 | |
peterknoben | 5:b4abbd3c513c | 176 | // Control mode selection------------------------------------------------------- |
peterknoben | 5:b4abbd3c513c | 177 | |
peterknoben | 6:edd30e11f3c7 | 178 | |
peterknoben | 6:edd30e11f3c7 | 179 | |
peterknoben | 6:edd30e11f3c7 | 180 | |
peterknoben | 6:edd30e11f3c7 | 181 | |
peterknoben | 6:edd30e11f3c7 | 182 | |
peterknoben | 6:edd30e11f3c7 | 183 | |
peterknoben | 5:b4abbd3c513c | 184 | //Determine the signalnumbers (i.e. speed) based on the strenght of the EMG signals |
peterknoben | 3:c768a37620c9 | 185 | void signalnumber(){ |
peterknoben | 4:e15fc329b88b | 186 | //Left |
peterknoben | 7:105e3ae0fb19 | 187 | Signal_filteredLeft = fabs(FilterLeft(emg0)-emg_offsetLeft);//*kLeft |
peterknoben | 7:105e3ae0fb19 | 188 | mean_value_left = SignalLeft.getmean(n, Signal_filteredLeft); |
peterknoben | 7:105e3ae0fb19 | 189 | CaseLeft = SignalLeft.getnumber(n, action, Signal_filteredLeft); |
peterknoben | 4:e15fc329b88b | 190 | //Right |
peterknoben | 7:105e3ae0fb19 | 191 | Signal_filteredRight = fabs(FilterRight(emg2)*kRight); |
peterknoben | 7:105e3ae0fb19 | 192 | mean_value_right = SignalRight.getmean(n, Signal_filteredRight); |
peterknoben | 7:105e3ae0fb19 | 193 | CaseRight = SignalRight.getnumber(n, action, Signal_filteredRight); |
peterknoben | 5:b4abbd3c513c | 194 | //Mode |
peterknoben | 7:105e3ae0fb19 | 195 | Signal_filteredMode = fabs(FilterMode(emg4)*kMode); |
peterknoben | 7:105e3ae0fb19 | 196 | mean_value_mode = SignalMode.getmean(n, Signal_filteredMode); |
peterknoben | 7:105e3ae0fb19 | 197 | CaseMode = SignalMode.getnumber(n, action, Signal_filteredMode); |
peterknoben | 6:edd30e11f3c7 | 198 | /*if(CaseMode >= 3){ |
peterknoben | 5:b4abbd3c513c | 199 | milli ++; |
peterknoben | 5:b4abbd3c513c | 200 | if(milli>=150){ |
peterknoben | 5:b4abbd3c513c | 201 | mode_selection(); |
peterknoben | 5:b4abbd3c513c | 202 | milli=0; |
peterknoben | 5:b4abbd3c513c | 203 | } |
peterknoben | 5:b4abbd3c513c | 204 | } |
peterknoben | 5:b4abbd3c513c | 205 | else{ |
peterknoben | 5:b4abbd3c513c | 206 | milli=0; |
peterknoben | 6:edd30e11f3c7 | 207 | }*/ |
peterknoben | 3:c768a37620c9 | 208 | } |
peterknoben | 3:c768a37620c9 | 209 | |
peterknoben | 5:b4abbd3c513c | 210 | |
peterknoben | 5:b4abbd3c513c | 211 | |
peterknoben | 6:edd30e11f3c7 | 212 | |
peterknoben | 6:edd30e11f3c7 | 213 | |
peterknoben | 6:edd30e11f3c7 | 214 | |
peterknoben | 6:edd30e11f3c7 | 215 | |
peterknoben | 6:edd30e11f3c7 | 216 | |
peterknoben | 1:406519ff0f17 | 217 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 218 | //-------------------------Kinematic Constants---------------------------------- |
peterknoben | 1:406519ff0f17 | 219 | //------------------------------------------------------------------------------ |
peterknoben | 4:e15fc329b88b | 220 | const double RAD_PER_PULSE = 0.00074799825*2; //Number of radials per pulse from the encoder |
peterknoben | 4:e15fc329b88b | 221 | const double PI = 3.14159265358979323846; //Pi |
peterknoben | 4:e15fc329b88b | 222 | const float max_rangex = 500.0; //Max range on the x axis |
peterknoben | 4:e15fc329b88b | 223 | const float max_rangey = 300.0; //Max range on the y axis |
peterknoben | 4:e15fc329b88b | 224 | const float x_offset = 156.15; //Start x position from the shoulder joint |
peterknoben | 4:e15fc329b88b | 225 | const float y_offset = -76.97; //Start y position from the shoulder joint |
peterknoben | 4:e15fc329b88b | 226 | const float alpha_offset = -(21.52/180)*PI; //Begin angle Alpha at zero zero |
peterknoben | 4:e15fc329b88b | 227 | const float beta_offset = 0.0; //Begin angle Beta at zero zero |
peterknoben | 4:e15fc329b88b | 228 | const float L1 = 450.0; //Length of the first body |
peterknoben | 4:e15fc329b88b | 229 | const float L2 = 490.0; //Length of the second body |
DBerendsen | 0:5f4bc2d63814 | 230 | |
DBerendsen | 0:5f4bc2d63814 | 231 | |
peterknoben | 5:b4abbd3c513c | 232 | |
DBerendsen | 0:5f4bc2d63814 | 233 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 234 | //--------------------------------Motor1---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 235 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 236 | FastPWM motor1(D5); |
DBerendsen | 0:5f4bc2d63814 | 237 | DigitalOut motor1DirectionPin(D4); |
DBerendsen | 0:5f4bc2d63814 | 238 | DigitalIn ENC2A(D12); |
DBerendsen | 0:5f4bc2d63814 | 239 | DigitalIn ENC2B(D13); |
DBerendsen | 0:5f4bc2d63814 | 240 | Encoder encoder1(D13,D12); |
peterknoben | 1:406519ff0f17 | 241 | const float MOTOR1_KP = 40.0; |
peterknoben | 1:406519ff0f17 | 242 | const float MOTOR1_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 243 | const float MOTOR1_KD = 15.0; |
peterknoben | 5:b4abbd3c513c | 244 | double M1_v1 = 0.0, M1_v2 = 0.0; //Calculation values |
DBerendsen | 0:5f4bc2d63814 | 245 | const double motor1_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 246 | const float M1_N = 0.5; |
peterknoben | 6:edd30e11f3c7 | 247 | float position_math[2]={}; |
DBerendsen | 0:5f4bc2d63814 | 248 | |
DBerendsen | 0:5f4bc2d63814 | 249 | void motor1_control(){ |
peterknoben | 4:e15fc329b88b | 250 | float reference_alpha = Angle.getbeta(max_rangex, max_rangey, x_offset, y_offset, beta_offset, L1, L2, position_math[0], position_math[1]); |
DBerendsen | 0:5f4bc2d63814 | 251 | float position_alpha = RAD_PER_PULSE * encoder1.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 252 | float error_alpha = reference_alpha-position_alpha; |
peterknoben | 1:406519ff0f17 | 253 | float magnitude1 = PID.get(error_alpha, MOTOR1_KP, MOTOR1_KI, MOTOR1_KD, CONTROLLER_TS, M1_N, M1_v1, M1_v2) / motor1_gain; |
DBerendsen | 0:5f4bc2d63814 | 254 | motor1 = fabs(magnitude1); |
peterknoben | 1:406519ff0f17 | 255 | // Determine Motor Direction |
peterknoben | 1:406519ff0f17 | 256 | if (magnitude1 < 0){ |
DBerendsen | 0:5f4bc2d63814 | 257 | motor1DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 258 | } |
DBerendsen | 0:5f4bc2d63814 | 259 | else{ |
DBerendsen | 0:5f4bc2d63814 | 260 | motor1DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 261 | } |
DBerendsen | 0:5f4bc2d63814 | 262 | } |
DBerendsen | 0:5f4bc2d63814 | 263 | |
DBerendsen | 0:5f4bc2d63814 | 264 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 265 | //--------------------------------Motor2---------------------------------------- |
DBerendsen | 0:5f4bc2d63814 | 266 | //------------------------------------------------------------------------------ |
peterknoben | 1:406519ff0f17 | 267 | FastPWM motor2(D6); |
DBerendsen | 0:5f4bc2d63814 | 268 | DigitalOut motor2DirectionPin(D7); |
DBerendsen | 0:5f4bc2d63814 | 269 | DigitalIn ENC1A(D10); |
DBerendsen | 0:5f4bc2d63814 | 270 | DigitalIn ENC1B(D11); |
DBerendsen | 0:5f4bc2d63814 | 271 | Encoder encoder2(D10,D11); |
peterknoben | 1:406519ff0f17 | 272 | const float MOTOR2_KP = 60.0; |
peterknoben | 1:406519ff0f17 | 273 | const float MOTOR2_KI = 0.0; |
peterknoben | 1:406519ff0f17 | 274 | const float MOTOR2_KD = 15.0; |
peterknoben | 5:b4abbd3c513c | 275 | double M2_v1 = 0.0, M2_v2 = 0.0; //Calculation values |
DBerendsen | 0:5f4bc2d63814 | 276 | const double motor2_gain = 2*PI; |
peterknoben | 1:406519ff0f17 | 277 | const float M2_N = 0.5; |
DBerendsen | 0:5f4bc2d63814 | 278 | |
DBerendsen | 0:5f4bc2d63814 | 279 | void motor2_control(){ |
peterknoben | 4:e15fc329b88b | 280 | float reference_beta = Angle.getalpha(max_rangex, max_rangey, x_offset, y_offset, alpha_offset, L1, L2, position_math[0], position_math[1]); |
DBerendsen | 0:5f4bc2d63814 | 281 | float position_beta = RAD_PER_PULSE * -encoder2.getPosition(); |
DBerendsen | 0:5f4bc2d63814 | 282 | float error_beta = reference_beta-position_beta; |
peterknoben | 1:406519ff0f17 | 283 | float magnitude2 = PID.get(error_beta, MOTOR2_KP, MOTOR2_KI, MOTOR2_KD, CONTROLLER_TS, M2_N, M1_v1, M1_v2) / motor2_gain; |
DBerendsen | 0:5f4bc2d63814 | 284 | motor2 = fabs(magnitude2); |
peterknoben | 1:406519ff0f17 | 285 | //Determine Motor Direction |
DBerendsen | 0:5f4bc2d63814 | 286 | if (magnitude2 > 0){ |
DBerendsen | 0:5f4bc2d63814 | 287 | motor2DirectionPin = 1; |
DBerendsen | 0:5f4bc2d63814 | 288 | } |
DBerendsen | 0:5f4bc2d63814 | 289 | else{ |
DBerendsen | 0:5f4bc2d63814 | 290 | motor2DirectionPin = 0; |
DBerendsen | 0:5f4bc2d63814 | 291 | } |
DBerendsen | 0:5f4bc2d63814 | 292 | } |
peterknoben | 5:b4abbd3c513c | 293 | |
peterknoben | 5:b4abbd3c513c | 294 | void motor_control(){ |
peterknoben | 5:b4abbd3c513c | 295 | position_math[0]= MoveLeft.getposition(CaseLeft, mode, 0, max_rangex); |
peterknoben | 5:b4abbd3c513c | 296 | position_math[1]= MoveRight.getposition(CaseRight, mode, 1, max_rangey); |
peterknoben | 5:b4abbd3c513c | 297 | motor1_control(); |
peterknoben | 5:b4abbd3c513c | 298 | motor2_control(); |
peterknoben | 5:b4abbd3c513c | 299 | } |
DBerendsen | 0:5f4bc2d63814 | 300 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 301 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 302 | //------------------------------------------------------------------------------ |
DBerendsen | 0:5f4bc2d63814 | 303 | |
DBerendsen | 0:5f4bc2d63814 | 304 | int main(){ |
DBerendsen | 0:5f4bc2d63814 | 305 | pc.baud(115200); |
peterknoben | 6:edd30e11f3c7 | 306 | test=0; |
peterknoben | 4:e15fc329b88b | 307 | setled(); |
peterknoben | 6:edd30e11f3c7 | 308 | BiQuad_filter_Left.add( &LP1L ).add( &HP2L ).add( &NO3L); |
peterknoben | 6:edd30e11f3c7 | 309 | BiQuad_filter_Right.add( &LP1R ).add( &HP2R ).add( &NO3R); |
peterknoben | 6:edd30e11f3c7 | 310 | BiQuad_filter_Mode.add( &LP1M ).add( &HP2M ).add( &NO3M); |
peterknoben | 4:e15fc329b88b | 311 | But2.rise(&mincalibration); |
peterknoben | 4:e15fc329b88b | 312 | But1.rise(&maxcalibration); |
peterknoben | 6:edd30e11f3c7 | 313 | Mode.rise(&mode_selection); |
peterknoben | 5:b4abbd3c513c | 314 | motor1.period(0.0001f); motor2.period(0.0001f); |
peterknoben | 5:b4abbd3c513c | 315 | MyControllerTicker.attach(&motor_control, CONTROLLER_TS); |
peterknoben | 3:c768a37620c9 | 316 | MyTickerMean.attach(&signalnumber, MEAN_TS); |
peterknoben | 5:b4abbd3c513c | 317 | // MyTickerMode.attach(&signalmode, MEAN_TS); |
peterknoben | 5:b4abbd3c513c | 318 | // MyTickerMean.attach(&signalnumberright, MEAN_TS); |
peterknoben | 5:b4abbd3c513c | 319 | // MyTickerMean.attach(&signalmode,MEAN_TS); |
peterknoben | 4:e15fc329b88b | 320 | |
peterknoben | 5:b4abbd3c513c | 321 | while(1) { |
peterknoben | 6:edd30e11f3c7 | 322 | // pc.printf("Mean %f %f %f \r\n", mean_value_left, mean_value_right, mean_value_mode); |
peterknoben | 5:b4abbd3c513c | 323 | // pc.printf("Case %i %i %i, mode = %i \r\n", CaseLeft, CaseRight, CaseMode, mode); |
peterknoben | 6:edd30e11f3c7 | 324 | pc.printf("mean %f , case = %i \r\n", mean_value_left, CaseLeft); |
peterknoben | 5:b4abbd3c513c | 325 | wait(0.1f); |
peterknoben | 5:b4abbd3c513c | 326 | } |
peterknoben | 1:406519ff0f17 | 327 | } |
peterknoben | 1:406519ff0f17 | 328 | |
peterknoben | 1:406519ff0f17 | 329 |