Esther Keulers
g
Dependencies: MODSERIAL mbed Encoder
Diff: begintotaalscript.cpp
- Revision:
- 1:8a0a39740897
- Parent:
- 0:e9e50c0a6502
- Child:
- 2:103de31c8803
diff -r e9e50c0a6502 -r 8a0a39740897 begintotaalscript.cpp
--- a/begintotaalscript.cpp Thu Oct 31 14:10:59 2013 +0000
+++ b/begintotaalscript.cpp Mon Nov 04 19:30:07 2013 +0000
@@ -1,57 +1,438 @@
#include "mbed.h"
#include "MODSERIAL.h"
+#include "encoder.h"
+
+volatile bool looptimerflag;
+
+void setlooptimerflag(void)
+{
+ looptimerflag=true;
+}
int main()
{
-
+ //Communicatie met de pc
MODSERIAL pc(USBTX,USBRX,64,1024);
pc.baud(115200);
-
+ //Benoemen inputs
DigitalIn knop1(PTC2);
DigitalIn knop2(PTB3);
DigitalIn knop3(PTB2);
+ AnalogIn emg1(PTB0); //Analog input emg1
+ AnalogIn emg2(PTB1); //Analog input emg2
+
+ Encoder motor1(PTD0,PTC9);
+ Encoder motor2(PTD2,PTC8);
+
+ /* PWM control to motor */
+ PwmOut pwm_motor1(PTA12);
+ PwmOut pwm_motor2(PTA5);
+ /* Direction pin */
+ DigitalOut motor1dir(PTD3);
+ DigitalOut motor2dir(PTD1);
+
knop1.mode(PullUp);
knop2.mode(PullUp);
knop3.mode(PullUp);
+ //Variabelen voor menu
int state = 1;
- while (true) {
+ bool calibratie_rust = false;
+ bool calibratie_max = false;
+ bool calibratie_motor = false;
+ bool meting = false;
+
+ //Variabelen EMG/motoren
+ double yy,z,zabs,w,y1,z1,zabs1,w1,y2,z2,zabs2,w2,e1,e2,e3,f1,f2,g1,g2,g3,h1,h2,byy,bz,bzabs,bw,by1,bz1,bzabs1,bw1,by2,bz2,bzabs2,bw2,be1,be2,be3,bf1,bf2,bg1,bg2,bg3,bh1,bh2;
+ double MaxsnelheidV,MaxsnelheidD,GrenswaardeD,GrenswaardeV,MaxwaardeD,MaxwaardeV,BereikD,BereikV,SnelheidV,SnelheidD,xbegin,ybegin,qbegin,x,y,q,deltas,deltaq,deltax,deltay;
+ double theta, r, dtheta, dr, theta_pen, r_pen, theta_pwm, r_pwm, pi;
+
+ pi=3.14159265359;
+
+ e1= 0.855930601814815;
+ e2= -1.711861203629630;
+ e3= 0.855930601814815;
+ f1=-1.690996376887443;
+ f2= 0.732726030371816;
+
+ g1= 0.098259168204717*pow(10.0,-4.0);
+ g2= 0.196518336409435*pow(10.0,-4.0);
+ g3=0.098259168204717*pow(10.0,-4.0);
+ h1= -1.991114292201654;
+ h2=0.991153595868935;
+
+ be1=0.914969144113083;
+ be2= -1.829938288226165;
+ be3= 0.914969144113083;
+ bf1=-1.822694925196308;
+ bf2=0.837181651256022;
+
+ bg1= 0.246193004641015*pow(10.0,-5.0);
+ bg2= 0.492386009282031 *pow(10.0,-5.0);
+ bg3= 0.246193004641015*pow(10.0,-5.0);
+ bh1= -1.995557124345789;
+ bh2= 0.995566972065975;
+
+
+ y1 = 0; /*Initialize y(n-1) = 0*/
+ y2 = 0; /*Initialize y(n-2) = 0*/
+ z1 = 0; /*Initialize z(n-1) = 0*/
+ z2 = 0; /*Initialize z(n-2) = 0*/
+ zabs1 = 0; /*Initialize zabs(n-1) = 0*/
+ zabs2 = 0; /*Initialize zabs(n-2) = 0*/
+ w1 = 0; /*Initialize w(n-1) = 0*/
+ w2 = 0; /*Initialize w(n-2) = 0*/
- if (state == 1)
- pc.printf("state 1 rust| 1=cal motor 2=cal emg 3=tekenen /n/r");
+ by1 = 0; /*Initialize by(n-1) = 0*/
+ by2 = 0; /*Initialize by(n-2) = 0*/
+ bz1 = 0; /*Initialize bz(n-1) = 0*/
+ bz2 = 0; /*Initialize bz(n-2) = 0*/
+ bzabs1 = 0; /*Initialize bzabs(n-1) = 0*/
+ bzabs2 = 0; /*Initialize bzabs(n-2) = 0*/
+ bw1 = 0; /*Initialize bw(n-1) = 0*/
+ bw2 = 0; /*Initialize bw(n-2) = 0*/
+ const float Ts = 0.001; /*Sample Time, const(ant)*/
+
+//Constanten voor tekening: EMGdeel
+ xbegin= 0; //beginpositie
+ ybegin=0; //beginpositie
+ qbegin=315; //beginhoek (in graden) vanaf de y-as, rechtsom gedraaid is positief
+ MaxsnelheidV=15; //in cm/s
+ MaxsnelheidD=15; //in graden/s
+
+ Ticker looptimer;
+ looptimer.attach(setlooptimerflag,Ts);
+
+ while (true) { //oneindige while loop
+
+ while(looptimerflag != true);
+ looptimerflag = false;
+
+
+// state 1 RUST
+ if (state == 1) {
+
+ pc.printf("state 1 RUST | knop1 = cal_motor knop2 = MENU EMG knop3 = Tekenen \n\r");
+
- if (knop1 == false ) {
- state=2;
- wait(0.05);
+ if (knop1 == false ) { //als knop 1 is ingedrukt
+ state=2;
+ wait(0.05); //wacht goed contact knopje
+
+ while(knop1 == false) {} //wacht tot knop is losgelaten
+ wait(0.05); // wacht goed contact knopje
+
+ }
+
+ if (knop2 == false ) { //als knop 2 wordt ingedrukt: state is 3
+ state=3;
+ wait(0.05);
+
+ while(knop2 == false) {}
+ wait(0.05);
+ }
+ if (knop3 == false && calibratie_rust == true && calibratie_max == true && calibratie_motor == true) {
+ state=6; //state 6 kan alleen uitgevoerd worden wanneer alle calibraties gedaan zijn.
+ wait(0.05);
+
+ while(knop3 == false) {}
+ wait(0.05);
+ meting=true;
+
+ }
+ if (knop3 == false && state !=6) {
+ wait(0.05);
+ pc.printf("Niet alle calibraties uitgevoerd! \n");
+ wait(1);
+ }
+
+
}
- if (knop2 == false ) {
- state=3;
- wait(0.05);
+
+//state2 CAL MOTOR
+ if (state == 2) {
+ pc.printf("state 2 cal_motor | knop1 = terug naar rust \n\r");
+
+
+ if (knop1 == false ) {
+ state=1;
+ wait(0.05);
+
+ while(knop1 == false) {}
+ wait(0.05);
+
+ motor1.setPosition(0);
+ motor2.setPosition(0);
+
+
+ calibratie_motor = true;
+
+
+ }
}
- if (knop3 == false ) {
- state=6;
- wait(0.05);
+// state 3 MENU EMG
+ if (state == 3) {
+ pc.printf("state 3 MENU EMG | knop1= cal EMG rust knop2= rust knop3= cal EMG max \n\r");
+
+
+ if (knop2 == false ) { // terug naar state 1
+ state=1;
+ wait(0.05);
+
+ while(knop2 == false) {}
+ wait(0.05);
+ }
+
+ if (knop1 == false ) { // naar state 4
+ state=4;
+ wait(0.05);
+
+ while(knop1 == false) {}
+ wait(0.05);
+
+ // begingrenswaarden stellen:
+ GrenswaardeV=0;
+ GrenswaardeD=0;
+ meting=true;
+ }
+
+ if (knop3 == false ) { // naar state 5
+ state=5;
+ wait(0.05);
+
+ while(knop3 == false) {}
+ wait(0.05);
+
+ // begingrenswaarden stellen:
+ MaxwaardeV=0;
+ MaxwaardeD=0;
+ meting=true;
+
+ }
+
+
}
-
+
+
+ //METEN VAN EMG
+ if (meting == true) {
+ // pc.printf("TEST CODE: Meting in gang\n");
+ yy = emg1.read(); //<measurement function, read from pin>
+ byy= emg2.read();
+
+ z=-f1*z1-f2*z2+e1*yy+e2*y1+e3*y2; /*hoogdoorlaatfilteroverdacht*/
+ bz=-bf1*bz1-bf2*bz2+be1*byy+be2*by1+be3*by2; /*hoogdoorlaatfilteroverdacht van biceps*/
+
+ y2 = y1; /*y(n-1) will be y(n-2) on next loop*/
+ y1= yy; /*y(n) will be y(n-1) on next loop*/
+ z2 = z1; /*z(n-1) will be z(n-2) on next loop*/
+ z1 = z; /*z(n) will be z(n-1) on next loop*/
+
+ by2 = by1; /*y(n-1) will be y(n-2) on next loop*/
+ by1= byy; /*y(n) will be y(n-1) on next loop*/
+ bz2 = bz1; /*z(n-1) will be z(n-2) on next loop*/
+ bz1 = bz; /*z(n) will be z(n-1) on next loop*/
+
+ zabs=abs(z);/*rectify*/
+ bzabs=abs(bz);/*rectify*/
+
+ w=-h1*w1-h2*w2+g1*zabs+g2*zabs1+g3*zabs2; /*laagdoorlaatfilteroverdracht*/
+ bw=-bh1*bw1-bh2*bw2+bg1*bzabs+bg2*bzabs1+bg3*bzabs2; /*laagdoorlaatfilteroverdracht van biceps*/
+
+ zabs2 = zabs1; /*z(n-1) will be z(n-2) on next loop*/
+ zabs1 = zabs; /*z(n) will be z(n-1) on next loop*/
+ w2 = w1; /*w(n-1) will be w(n-2) on next loop*/
+ w1 = w; /*w(n) will be w(n-1) on next loop*/
+
+ bzabs2 = bzabs1; /*z(n-1) will be z(n-2) on next loop*/
+ bzabs1 = bzabs; /*z(n) will be z(n-1) on next loop*/
+ bw2 = bw1; /*w(n-1) will be w(n-2) on next loop*/
+ bw1 = bw; /*w(n) will be w(n-1) on next loop*/
+
+ //pc.printf("%f,%f\n",w,bw);
+
+ wait(Ts); /*When finished wait (maybe a bit shorter?)*/
+
+ if (w>1.0) {
+ w=1.0;
+ }
+ if (bw>1.0) {
+ bw=1.0;
+ }
+
+ }
- if (state == 2)
- pc.printf("state 2 cal robot| 2= rust /n/r");
- if (state == 3)
- pc.printf("state 3 cal EMG | 1=cal emg laag 3=cal emg hoog /n/r");
- //if (state == 4)
- // pc.printf("state 1 | 1=cal motor 2=cal emg 3=tekenen /n/r");
- //if (state == 5)
- // pc.printf("state 1 | 1=cal motor 2=cal emg 3=tekenen /n/r");
- if (state == 6)
- pc.printf("state 6 tekenen| 6=rust /n/r");
+// state 4 EMG CAL IN RUST
+ if (state == 4) {
+ pc.printf("state 4 cal EMG RUST | knop1= MEMNU EMG \n\r");
+ pc.printf("%f,%f\n",GrenswaardeV,GrenswaardeD);
+ // Nieuwe grenswaarden bepalen
+ if (w > GrenswaardeV) {
+ GrenswaardeV = w;
+ }
+ if (bw > GrenswaardeD) {
+ GrenswaardeD = bw;
+ }
+ if (knop1 == false ) { // terug naar state 1
+ state=3;
+ wait(0.05);
+
+ while(knop1 == false) {}
+ wait(0.05);
+ calibratie_rust = true;
+ meting=false;
+
+ }
+ }
+// state 5 EMG CAL MAX
+ if (state == 5) {
+ pc.printf("state 5 cal EMG MAX | knop3= EMG MENU \n\r");
+ pc.printf("%f,%f\n",MaxwaardeV,MaxwaardeD);
+ // Nieuwe maxwaarden bepalen
+ if (w > MaxwaardeV) {
+ MaxwaardeV = w;
+ }
+ if (bw > MaxwaardeD) {
+ MaxwaardeD = bw;
+ }
+
+ // einde maxwaarde bepalen:
+ if (knop3 == false ) { // terug naar state 3
+ state=3;
+ wait(0.05);
+
+ while(knop3 == false) {}
+ wait(0.05);
+ calibratie_max = true;
+ meting=false;
+
+ }
+
+ }
+
+// state 6 TEKENEN
+
+ if (state == 6) {
+ // pc.printf("state 6 tekenen | knop3= rust \n\r");
+
+ // EMG
+ BereikD = MaxwaardeD-GrenswaardeD; //Bereik van grafiek EMG (Voltage t.o.v. tijd)
+ BereikV = MaxwaardeV-GrenswaardeV; //Bereik van grafiek EMG (Voltage t.o.v. tijd)
+
+ SnelheidV = (MaxsnelheidV/BereikV)*(w-GrenswaardeV); // Snelheid van pen (in cm/sec), lineair verband met het Bereik
+ SnelheidD = (MaxsnelheidD/BereikD)*(bw-GrenswaardeD); //Draaisnelheid pen (in graden/sec), lineair verband met het Bereik
+
+ if (SnelheidV<MaxsnelheidD) {
+ SnelheidV=MaxsnelheidD;
+ }
+
+ if (SnelheidD<MaxsnelheidD) {
+ SnelheidD=MaxsnelheidD;
+ }
+
+ if (SnelheidV>MaxsnelheidV) {
+ SnelheidV=MaxsnelheidV;
+ }
+
+ if (SnelheidD>MaxsnelheidV) {
+ SnelheidD=MaxsnelheidV;
+ }
+
+ deltas = SnelheidV*Ts; //afstand tussen twee meetpunten
+ deltaq = SnelheidD*Ts; //verandering hoek tov. de rechtdoor
+ q = deltaq+qbegin; // hoekverandering tov. het assenstelsel
+
+ deltay = deltas*cos(q); //veranding van pen in de y-richting
+ deltax = deltas*sin(q); // verandering van pen in de x-richting
+
+ x = xbegin+deltax; // nieuwe postie pen, x-coördinaat
+ y = ybegin+deltay; // nieuwe positie pen, y-coöridnaat
+
+ if (x>29.7) { //grenzen A4
+ x=29.7;
+ }
+ if (y>21.0) {
+ y=21.0;
+ }
+
+ if (x<0) { //grenzen A4
+ x=0;
+ }
+ if (y<0) {
+ y=0;
+ }
+
+ xbegin=x; // x zal xbegin worden in de volgende loop oftewel:(x(n) will be x(n-1) on next loop)
+ ybegin=y; // y zal ybgin worden in de volgende loop oftewel:(y(n) will be y(n-1) on next loop)
+ qbegin=q; // q zal qbegin worden in de volgende loop oftewel:(q(n) will be q(n-1) on next loop)
+
+ pc.printf("%f,%f,%f,%f\n",SnelheidV,SnelheidD,x,y);
+
+
+// motoren
+ x = x*10.0 + 69.8;
+ y = y*10.0 + 69.8;
+ theta = atan(y/x) ;// * (400.0/(.5*pi));
+ r = (sqrt(x*x+y*y)) ;// * (2577/461.335);
+
+ theta_pen = motor1.getPosition() * ((.5*pi)/400);
+ r_pen = motor2.getPosition() * (363.0/2577.0);
+
+
+ dtheta = (theta - theta_pen);
+ dr = (r - r_pen);
+ theta_pwm = (dtheta)*0.5;
+ r_pwm = (dr)*0.001;
+ //NAAR MOTOR
+
+ //Zorgen dat pwm tussen -1 en 1 blijft.
+ if(theta_pwm > 1) {
+ theta_pwm=1;
+ }
+ if(theta_pwm < -1) {
+ theta_pwm=-1;
+ }
+ if(r_pwm > 1) {
+ r_pwm=1;
+ }
+ if(r_pwm < -1) {
+ r_pwm=-1;
+ }
+ // Bepaal richting waarin motoren moeten draaien
+ if(theta_pwm > 0)
+ motor1dir.write(1);
+ else
+ motor1dir.write(0);
+ if(r_pwm > 0)
+ motor2dir.write(1);
+ else
+ motor2dir.write(0);
+
+ // print naar pc
+ pc.printf("t=%.3f dt=%.3f tpwm=%.3f | r=%.3f dr=%.3f rpwm=%.3f\n", theta, dtheta, theta_pwm, r, dr, r_pwm);
+ //schrijf PWM naar motor
+ pwm_motor1.write(abs(theta_pwm));
+ pwm_motor2.write(abs(r_pwm));
+
+
+ // terug naar state 1 knop
+ if (knop3 == false ) { // terug naar state 1
+ state=1;
+ wait(0.05);
+
+ while(knop3 == false) {}
+ wait(0.05);
+ }
+
+ }
} //sluiten oneindige while loop
-}//afsluiten main
\ No newline at end of file
+} //afsluiten main
\ No newline at end of file
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed 2 deprecated |
| Created: | 31 Oct 2013 |
| Imports: | 2 |
| Forks: | 1 |
| Commits: | 8 |
| Dependents: | 0 |
| Dependencies: | 3 |
| Followers: | 2 |
This repository is Public (Unlisted).
The code in this repository is Apache licensed.