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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 (0.1)
#define K_I_KM (0.03  *TSAMP)
#define K_D_KM (0.001 /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.
#define RADTICKGM 0.003927
#define THETADOT0 6.85
#define THETADOT1 7.77
#define THETADOT2 9.21

//TextLCD pc(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9); // rs, e, d4-d7 CONTROLEREN!! (Pinnen wel vrij :) )! //Textpc pc(p15, p16, p17, p18, p19, p20, Textpc::pc16x4); // rs, e, d4-d7 ok

Encoder motor2(PTD2,PTD0); //geel,wit kleine motor MOTOR 2
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;
// constants for 50 Hz notch (bandbreedte 2 Hz)
float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924}; //constants for 50Hz notch
//state values
float notch_biceps_states[4];
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];

arm_biquad_casd_df1_inst_f32 lowpass_biceps;
arm_biquad_casd_df1_inst_f32 lowpass_triceps;
//constants for 80Hz lowpass
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;
//constants for envelop
float envelop_const[] = {0.005542711916075981, 0.011085423832151962, 0.005542711916075981, 1.7786300789392977, -0.8008009266036016};
// state values
float envelop_biceps_states[4];
float envelop_triceps_states[4];

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

enum kalibratiestates {BICEPSMAX,TRICEPSMAX};


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;              //static, want dan wordt vorige waarde onthouden
    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;
    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;
    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()
{
    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;
    Timer tijdslaan;
    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);
    while(true) {
        switch(state) {
            case RUST: {                            //Aanzetten
                pc.printf("--THE SLAP -- GROEP 5");        //pc scherm
                wait(5);
                state = KALIBRATIE;
                break;
            }

            case KALIBRATIE: {                                  //kalibreren met maximale inspanning
                max_value_biceps=0;
                max_value_triceps=0;
                //maximale inspanning biceps
                pc.printf("Kalibratie. 1:BICEPS MAX");  //pc scherm
                wait(1);
                tijdtimer.start();
                pc.printf("Biceps meting, meting loopt"); //pc scherm
                while (tijdtimer <= 3) {
                    if (envelop_emg0 > max_value_biceps);
                    {
                        max_value_biceps = envelop_emg0;
                    }
                }
                tijdtimer.stop();
                tijdtimer.reset();
                pc.printf("max value %f\n\r", max_value_biceps);        //pc scherm
                wait(1);

                //maximale inspanning triceps
                pc.printf("Kalibratie. 2:TRICEPS MAX"); //pc scherm
                wait(1);
                tijdtimer.start();
                pc.printf("Triceps meting, meting loopt!"); //pc scherm
                while (tijdtimer <= 3) {
                    if (envelop_emg1 > max_value_triceps) {
                        max_value_triceps = envelop_emg1;
                    }
                }
                tijdtimer.stop();
                tijdtimer.reset();
                pc.printf("max value %f\n\r", max_value_triceps);
                wait(1);
                state = RICHTEN;
                break;
            }// einde kalibratie case

            case RICHTEN: {                                  //batje richten (gebruik biceps en triceps)
                pc.printf("Richten");                  //regel 1 LCD scherm
                pc.printf("Kies goal!");               //regel 2 LCD scherm
                float setpointkm;
                float new_pwm_km;
                wait(3);
                float kalibratiewaarde_biceps,kalibratiewaarde_triceps;
                kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
                kalibratiewaarde_triceps=(envelop_emg1/max_value_triceps);
                //pc.printf("biceps %f\n\r", kalibratiewaarde_biceps);
                //pc.printf("triceps %f\n\r", kalibratiewaarde_triceps);
                if (kalibratiewaarde_biceps > 0.3 && kalibratiewaarde_triceps <= 0.3) { //linker goal!
                    setpointkm = -127;          //11,12graden naar links
                    pc.printf("links");
                } else if (kalibratiewaarde_biceps <= 0.3 && kalibratiewaarde_triceps > 0.3) { //rechter goal!
                    setpointkm = 127;        //11,12graden naar rechts
                    pc.printf("rechts");
                } else { //middelste goal!
                    setpointkm = 0;
                    pc.printf("midden");
                }
                //pc.printf("setpoint %f ", setpointkm);

                // NU MOTOR 2 LATEN BEWEGEN NAAR setpointkm
                
                state = SLAAN;
                break;
            }
            
            case SLAAN: {
                pc.printf("Slaan PingPong!");                  //regel 1 LCD scherm
                pc.printf("Kies goal!");               //regel 2 LCD scherm
                float thetadot;
                float setpointgm;
                float new_pwm_gm;
                wait(3);
                float kalibratiewaarde_biceps;
                kalibratiewaarde_biceps=(envelop_emg0/max_value_biceps);
                //pc.printf("biceps %f\n\r", kalibratiewaarde_biceps);
                if (kalibratiewaarde_biceps <= 0.3) { //kalibratiewaarde_biceps<0.3 goal onderin
                    thetadot=THETADOT0;
                    pc.printf("Onderste goal");  
                } else if (kalibratiewaarde_biceps>0.3 && kalibratiewaarde_biceps<=0.6) { //0.3<kalibratiewaarde_biceps<0.6 goal midden
                    thetadot=THETADOT1;
                    pc.printf("MIDDELSTE GOAL"); 
                } else { //goal bovenin
                    thetadot=THETADOT2;
                    pc.printf("BOVENSTE GOAL"); 
                }
                //pc.printf("thetadot %f ", thetadot);
                pc.printf("Daar gaat ie!");
                
                // NU MOTOR 1 LATEN BEWEGEN met snelheid thetadot
                
                state = HOME;
                break;
            }
            
            case HOME: {
                // NU MOTOR 1 LATEN BEWEGEN NAAR 0
                // NU MOTOR 2 LATEN BEWEGEN NAAR 0
               // state = RICHTEN;      //optioneel
                break;
            }
            
        }
    }
}