voorlopige script getest (posities nog toevoegen)
Dependencies: Encoder HIDScope MODSERIAL TextLCD mbed-dsp mbed
main.cpp
- Committer:
- DominiqueC
- Date:
- 2014-10-31
- Revision:
- 3:b06ada67fa4f
- Parent:
- 2:8596695c56df
- Child:
- 4:527e5b5283c2
File content as of revision 3:b06ada67fa4f:
/***************************************/ /* */ /* 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 (0.01) #define K_I_KM (0.0003 *TSAMP) #define K_D_KM (0.0 /TSAMP) #define K_P_GM (0.0022) #define K_I_GM (0.0001 *TSAMP) #define K_D_GM (0.00000001 /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; 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(¬ch_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(¬ch_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; tijdtimer.start(); tijdslaan.start(); arm_biquad_cascade_df1_init_f32(¬ch_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(¬ch_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); 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"); } //MOTOR 2 LATEN BEWEGEN NAAR setpointkm tijdtimer.reset(); while (tijdtimer.read() <= 3) { while(looptimerflag == false); looptimerflag = false; new_pwm_km = pidkm(setpointkm, motor2.getPosition()); //bewegen naar setpoint clamp(&new_pwm_km, -1,1); if(new_pwm_km < 0) motordir2 = 1; //links else motordir2 = 0; //rechts pwm_motor2.write(abs(new_pwm_km)); } 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; float setpointkm; float new_pwm_km; 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("Daar gaat ie!"); // NU MOTOR 1 LATEN BEWEGEN met snelheid thetadot tijdtimer.reset(); tijdslaan.reset(); while (tijdtimer.read() <=3) { while(looptimerflag == false); looptimerflag = false; if (motor1.getPosition()>= 444 ) { setpointgm = 444; } else { setpointgm = ((thetadot*tijdslaan.read())/RADTICKGM); } new_pwm_gm = pidgm(setpointgm, motor1.getPosition()); clamp(&new_pwm_gm, -1,1); if(new_pwm_gm < 0) { motordir1 = 1; //links } else { motordir1 = 0; //rechts } pwm_motor1.write(abs(new_pwm_gm)); } pc.printf("pos %d %f\n\r", motor1.getPosition(),setpointgm); //MOTOR 2 LATEN BEWEGEN NAAR setpointkm new_pwm_km = pidkm(setpointkm, motor2.getPosition()); //bewegen naar setpoint clamp(&new_pwm_km, -1,1); if(new_pwm_km < 0) motordir2 = 1; //links else motordir2 = 0; //rechts pwm_motor2.write(abs(new_pwm_km)); } state = HOME; break; case HOME: { pc.printf("HOMESTATE"); float setpointgm; float new_pwm_gm; float setpointkm; float new_pwm_km; // NU MOTOR 1 LATEN BEWEGEN met snelheid thetadot tijdtimer.reset(); tijdslaan.reset(); while (tijdtimer.read() <=3) { while(looptimerflag == false); looptimerflag = false; setpointgm = 0; new_pwm_gm = pidgm(setpointgm, motor1.getPosition()); clamp(&new_pwm_gm, -1,1); if(new_pwm_gm < 0) motordir1 = 1; //links else motordir1 = 0; //rechts pwm_motor1.write(abs(new_pwm_gm)); //MOTOR 2 LATEN BEWEGEN NAAR setpointkm setpointkm=0; new_pwm_km = pidkm(setpointkm, motor2.getPosition()); //bewegen naar setpoint clamp(&new_pwm_km, -1,1); if(new_pwm_km < 0) motordir2 = 1; //links else motordir2 = 0; //rechts pwm_motor2.write(abs(new_pwm_km)); } //state = RICHTEN; //optioneel break; } default: { state = RUST; } } } }