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/***************************************/
/*                                     */
/*   BRONCODE GROEP 5, MODULE 9, 2014  */
/*       *****-THE SLAP-******         */
/*                                     */
/* -Dominique Clevers                  */
/* -Rianne van Dommelen                */
/* -Daan de Muinck Keizer              */
/* -David den Houting                  */
/* -Marjolein Thijssen                 */
/***************************************/
#include "mbed.h"
#include "HIDScope.h"
#include "arm_math.h"
#include "encoder.h"
#include "MODSERIAL.h"
#include "TextLCD.h"

#define M2_PWM PTC8 //blauw
#define M2_DIR PTC9 //groen
#define M1_PWM PTA5 //kleine motor
#define M1_DIR PTA4 //kleine motor
#define TSAMP 0.005  // Sampletijd, 200Hz
#define K_P_KM (14)
#define K_I_KM (28  *TSAMP)
#define K_D_KM (0.01 /TSAMP)
#define K_P_GM (2.9)
#define K_I_GM (0.3  *TSAMP)
#define K_D_GM (0.003 /TSAMP)
#define I_LIMIT 1.

TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9); // rs, e, d4-d7 CONTROLEREN!! (Pinnen wel vrij :) )! //TextLCD lcd(p15, p16, p17, p18, p19, p20, TextLCD::LCD16x4); // rs, e, d4-d7 ok

Encoder motor2(PTD2,PTD0); //geel,wit kleine mtor
Encoder motor1(PTD5,PTA13);//geel,wit
PwmOut pwm_motor1(M1_PWM);
PwmOut pwm_motor2(M2_PWM);
DigitalOut motordir2(M2_DIR);
DigitalOut motordir1(M1_DIR);
AnalogIn emg0(PTB0); //Biceps
AnalogIn emg1(PTB1); //Triceps
HIDScope scope(6);

MODSERIAL pc(USBTX,USBRX,64,1024);


float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs,envelop_emg0,pwm_to_motor1,max_value_biceps,min_value_biceps; //variable to store value in for biceps 
float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs,envelop_emg1,pwm_to_motor2,max_value_triceps,min_value_triceps,metingstatus; //variable to store value in for triceps 

arm_biquad_casd_df1_inst_f32 notch_biceps;
arm_biquad_casd_df1_inst_f32 notch_triceps;
float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924}; //constants for 50Hz notch
float notch_biceps_states[4]; //state values
float notch_triceps_states[4];

arm_biquad_casd_df1_inst_f32 highpass_biceps;
arm_biquad_casd_df1_inst_f32 highpass_triceps;
//constants for 20Hz highpass
float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
//state values
float highpass_biceps_states[4];
float highpass_triceps_states[4];
//constants for 80Hz lowpass
arm_biquad_casd_df1_inst_f32 lowpass_biceps;
arm_biquad_casd_df1_inst_f32 lowpass_triceps;
float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
//state values
float lowpass_biceps_states[4];
float lowpass_triceps_states[4];

arm_biquad_casd_df1_inst_f32 envelop_biceps;
arm_biquad_casd_df1_inst_f32 envelop_triceps;
float envelop_const[] = {0.005542711916075981, 0.011085423832151962, 0.005542711916075981, 1.7786300789392977, -0.8008009266036016};
float envelop_biceps_states[4];
float envelop_triceps_states[4];    

enum slapstates {RUST,KALIBRATIE,RICHTEN,SLAAN}; //verschillende stadia definieren voor gebruik in CASES
uint8_t state=RUST;

volatile bool looptimerflag;
void setlooptimerflag(void)
{
    looptimerflag = true;
}

void clamp(float * in, float min, float max)
{
    *in > min ? *in < max? : *in = max: *in = min;
}

float pidkm(float setpointkm, float measurementkm) //PID Regelaar Kleine motor
{
    float error_km;
    static float prev_error_km = 0;
    float           out_p_km = 0;
    static float    out_i_km = 0;
    float           out_d_km = 0;
    error_km  = setpointkm-measurementkm;
    out_p_km  = error_km*K_P_KM;
    out_i_km += error_km*K_I_KM;
    out_d_km  = (error_km-prev_error_km)*K_D_KM;
    clamp(&out_i_km,-I_LIMIT,I_LIMIT);
    prev_error_km = error_km;
    scope.set(1,out_p_km);
    scope.set(2,out_i_km);
    scope.set(3,out_d_km);
    return out_p_km + out_i_km + out_d_km;
}

float pidgm(float setpointgm, float measurementgm) //PID Regelaar grote motor
{
    float error_gm;
    static float prev_error_gm = 0;
    float           out_p_gm = 0;
    static float    out_i_gm = 0;
    float           out_d_gm = 0;
    error_gm  = setpointgm-measurementgm;
    out_p_gm  = error_gm*K_P_GM;
    out_i_gm += error_gm*K_I_GM;
    out_d_gm  = (error_gm-prev_error_gm)*K_D_GM;
    clamp(&out_i_gm,-I_LIMIT,I_LIMIT);
    prev_error_gm = error_gm;
    scope.set(1,out_p_gm);
    scope.set(2,out_i_gm);
    scope.set(3,out_d_gm);
    return out_p_gm + out_i_gm + out_d_gm;
}
void emgmeten(){
    /*put raw emg value in emg_value*/
    emg0_value_f32 = emg0.read();   
    emg1_value_f32 = emg1.read();
 
    //process emg biceps
    arm_biquad_cascade_df1_f32(&notch_biceps, &emg0_value_f32, &filtered_emg0_notch, 1 );
    arm_biquad_cascade_df1_f32(&highpass_biceps, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
    filtered_emg0_eindsignaal_abs = fabs(filtered_emg0_notch_highpass_lowpass);  //gelijkrichter
    arm_biquad_cascade_df1_f32(&envelop_biceps, &filtered_emg0_eindsignaal_abs, &envelop_emg0, 1 );
    
    //process emg triceps
    arm_biquad_cascade_df1_f32(&notch_triceps, &emg1_value_f32, &filtered_emg1_notch, 1 );
    arm_biquad_cascade_df1_f32(&highpass_triceps, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
    arm_biquad_cascade_df1_f32(&lowpass_triceps, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
    filtered_emg1_eindsignaal_abs = fabs(filtered_emg1_notch_highpass_lowpass);  //gelijkrichter
    arm_biquad_cascade_df1_f32(&envelop_triceps, &filtered_emg1_eindsignaal_abs, &envelop_emg1, 1 );
    }
    

int main()
{
    while(1) {
        pc.baud(38400); //PC baud rate is 38400 bits/seconde
        Ticker emg_timer;
        emg_timer.attach(emgmeten, TSAMP);
        Ticker looptimer;
        looptimer.attach(setlooptimerflag,TSAMP);
        Timer tijdtimer;
        arm_biquad_cascade_df1_init_f32(&notch_biceps,1 , notch_const, notch_biceps_states);
        arm_biquad_cascade_df1_init_f32(&highpass_biceps,1 ,highpass_const,highpass_biceps_states);
        arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 ,lowpass_const,lowpass_biceps_states);
        arm_biquad_cascade_df1_init_f32(&notch_triceps,1 , notch_const, notch_triceps_states);
        arm_biquad_cascade_df1_init_f32(&highpass_triceps,1 ,highpass_const,highpass_triceps_states);
        arm_biquad_cascade_df1_init_f32(&lowpass_triceps,1 ,lowpass_const,lowpass_triceps_states);
        arm_biquad_cascade_df1_init_f32(&envelop_triceps,1 ,envelop_const,envelop_triceps_states);
        arm_biquad_cascade_df1_init_f32(&envelop_biceps,1 ,envelop_const,envelop_biceps_states);
        
        switch(state) {
            case RUST: {                        //Aanzetten
                lcd.cls();
                lcd.locate(0,0);         
                lcd.printf(" -- THE SLAP -- ");   //regel 1 LCD scherm
                lcd.locate(0,1);
                lcd.printf("    GROEP 5     ");
                wait(5);                
                if (metingstatus<5);
                    state = KALIBRATIE;
                if (metingstatus==5);
                    state = RICHTEN;
                break;                         
            }                               

            case KALIBRATIE: {
                lcd.cls();
                lcd.locate(0,0);         
                lcd.printf("Kalibratie");   //regel 1 LCD scherm
                lcd.locate(0,1);
                lcd.printf("1:BICEPS RUST");             //regel 2 LCD scherm
                wait(1); 
                max_value_biceps=0;
                max_value_triceps=0;
                min_value_biceps=0;
                min_value_triceps=0;
                int metingstatus=1;
                
                if (metingstatus==1) { //BICEPS RUST METING
                
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("BICEPS RUST");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("ONTSPAN! (3SEC)");             //regel 2 LCD scherm
                    wait(1); 
                    tijdtimer.start();
                    
                    if (envelop_emg0 > min_value_biceps) {
                        min_value_biceps = envelop_emg0; 
                        }
                    if (tijdtimer == 3 ) {
                        tijdtimer.stop();
                        tijdtimer.reset();
                        metingstatus=2; 
                        }
                    }
                if (metingstatus==2) { //TRICEPS RUST METING
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("TRICEPS RUST");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("ONTSPAN! (3SEC)");             //regel 2 LCD scherm
                    wait(1);                 
                    tijdtimer.start();
                    if (envelop_emg1 > min_value_triceps) {
                        min_value_triceps = envelop_emg1; }
                    if (tijdtimer == 3 ) {
                        tijdtimer.stop();
                        tijdtimer.reset();
                        metingstatus=3; 
                        }
                        }
                if (metingstatus==3) { //BICEPS KRACHT METING
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("BICEPS MAX");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("SPAN AAN! (3SEC)");             //regel 2 LCD scherm
                    wait(1);                 
                    tijdtimer.start();
                    if (envelop_emg0 > max_value_biceps) {
                        max_value_biceps = envelop_emg0; }
                    if (tijdtimer == 3 ) {
                        tijdtimer.stop();
                        tijdtimer.reset();
                        metingstatus=4; 
                        }
                        }
                if (metingstatus==4) {//TRICEPS KRACHT METING
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("TRICEPS MAX");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("SPAN AAN! (3SEC)");             //regel 2 LCD scherm                
                    tijdtimer.start();
                    if (envelop_emg1 > max_value_triceps) {
                        max_value_triceps = envelop_emg1; }
                    if (tijdtimer == 3 ) {
                        tijdtimer.stop();
                        tijdtimer.reset();
                        metingstatus=5; 
                        }       
                        }                
                if (metingstatus==5) {
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("Kalibratie OK");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("");             //regel 2 LCD scherm
                    wait(1);
                    state = RICHTEN; }                      
                break;                          
            }                               

           case RICHTEN: {                   //Batje richten
                    lcd.cls();
                    lcd.locate(0,0);         
                    lcd.printf("RICHTEN");   //regel 1 LCD scherm
                    lcd.locate(0,1);
                    lcd.printf("KIES GOAL");             //regel 2 LCD scherm
                    int16_t setpointkm;
                    float new_pwm_km;
                    wait(1);
                    int goalkeuze=1; //midden goal
                    float kalibratiewaarde_biceps,kalibratiewaarde_triceps;
                    kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps); //RUSTWAARDES NOG NIET GEBRUIKT
                    kalibratiewaarde_triceps=(envelop_emg1/max_value_triceps);
                    tijdtimer.start();
                    
                    if (kalibratiewaarde_biceps>0.3 && kalibratiewaarde_triceps<0.3){
                        goalkeuze = 0; //goalkeuze
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("LINKER GOAL!");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("");             //regel 2 LCD scherm
                        setpointkm = -241;
                        new_pwm_km = pidkm(setpointkm, motor1.getPosition());
                        clamp(&new_pwm_km, -1,1);
                        if(new_pwm_km < 0)
                        motordir1 = 1;
                        else
                        motordir1 = 0;
                        pwm_motor1.write(abs(new_pwm_km));
                        wait(1);
                        state = SLAAN;
                        //-241 encoder tics tov midden goal
                        
                        }
                    if (kalibratiewaarde_triceps>0.3 && kalibratiewaarde_biceps<0.3) {
                        goalkeuze = 2; //rechter goal
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("RECHTER GOAL!");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("");             //regel 2 LCD scherm
                        //+11 encoder tics tov midden goal
                        setpointkm = 11;
                        new_pwm_km = pidkm(setpointkm, motor1.getPosition());
                        clamp(&new_pwm_km, -1,1);
                        if(new_pwm_km < 0)
                        motordir1 = 1;
                        else
                        motordir1 = 0;
                        pwm_motor1.write(abs(new_pwm_km));
                        wait(1);
                        state = SLAAN;
                        }
                    if (kalibratiewaarde_biceps <0.3 && kalibratiewaarde_triceps<0.3) {
                        goalkeuze=1; // middelste goal!
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("MIDDEN GOAL!");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("");             //regel 2 LCD scherm
                        //0 encoder tics. Ook start positie!
                        setpointkm = 0;
                        new_pwm_km = pidkm(setpointkm, motor1.getPosition());
                        clamp(&new_pwm_km, -1,1);
                        if(new_pwm_km < 0)
                        motordir1 = 1;
                        else
                        motordir1 = 0;
                        pwm_motor1.write(abs(new_pwm_km));
                        wait(1);
                        state = SLAAN;
                        }
                    if (tijdtimer == 5) {
                        tijdtimer.stop();
                        tijdtimer.reset();
                        state = SLAAN;
                        }  
                
           break; 
            }                              
           case SLAAN: {                    //Balletje slaan
                lcd.cls();
                lcd.locate(0,0);         
                lcd.printf("SLAAN!");   //regel 1 LCD scherm
                lcd.locate(0,1);
                lcd.printf("KIES GOAL!");             //regel 2 LCD scherm
                wait(1);
                int16_t setpointgm;
                float new_pwm_gm;
                int goalhoogte=0;
                float kalibratiewaarde_biceps;
                kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
                if (kalibratiewaarde_biceps>0.1 && kalibratiewaarde_biceps<0.3){
                        goalhoogte = 0; //goalkeuze, onderste goal
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("ONDERSTE GOAL");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("DAAR GAAT IE!");             //regel 2 LCD scherm
                        setpointgm = //onbekend;
                        new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
                        clamp(&new_pwm_gm, -1,1);
                        if(new_pwm_gm < 0)
                        motordir2 = 0;
                        else
                        motordir2 = 1;
                        pwm_motor2.write(abs(new_pwm_gm));
                        wait(2);
                        state = RUST;
                        }
                 if (kalibratiewaarde_biceps>0.3 && kalibratiewaarde_biceps<0.6){
                        goalhoogte = 1; //goalkeuze, middelste goal
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("MIDDELSTE GOAL");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("DAAR GAAT IE!");             //regel 2 LCD scherm
                        setpointgm = //onbekend;
                        new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
                        clamp(&new_pwm_gm, -1,1);
                        if(new_pwm_gm < 0)
                        motordir2 = 0;
                        else
                        motordir2 = 1;
                        pwm_motor2.write(abs(new_pwm_gm));
                        wait(2);
                        state = RUST;
                        }
                 if (kalibratiewaarde_biceps>0.6){
                        goalhoogte = 2; //goalkeuze, Bovenste goal
                        lcd.cls();
                        lcd.locate(0,0);         
                        lcd.printf("BOVENSTE GOAL");   //regel 1 LCD scherm
                        lcd.locate(0,1);
                        lcd.printf("DAAR GAAT IE!");             //regel 2 LCD scherm
                        setpointgm = //onbekend;
                        new_pwm_gm = pidgm(setpointgm, motor2.getPosition());
                        clamp(&new_pwm_gm, -1,1);
                        if(new_pwm_gm < 0)
                        motordir2 = 0;
                        else
                        motordir2 = 1;
                        pwm_motor2.write(abs(new_pwm_gm));
                        wait(2);
                        state = RUST;                       
                        
                        }
                
                
                
                
                state = RUST;
           break; 
            }  

           default: {
                state = RUST;
            }                               

        }  //switch sate                            

    } //while
} //int main