Fernon Eijkhoudt / Mbed 2 deprecated ROBOBIRDSV2

EMG driven robot which shoots elastic bands

Dependencies:   QEI mbed

Fork of ROBOBIRDS_FINAL by Fernon Eijkhoudt

main.cpp@34:67f211c08e74, 2015-10-27 (annotated)

Committer:
Fernon
Date:
Tue Oct 27 16:24:19 2015 +0000
Revision:
34:67f211c08e74
Parent:
33:4e3870ab4e17
Child:
35:b71140a46b9c
langzamerhand weer goed opweg;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fernon 0:5a5f417fa1b2 1 #include "mbed.h"
Fernon 16:b0ec8e6a8ad4 2 #include "QEI.h"
Fernon 8:a2b725b502d8 3 #include "math.h"
yc238 12:dcf90cafb2a5 4 #include "HIDScope.h"
Fernon 0:5a5f417fa1b2 5
Fernon 25:230bd4e1f3ef 6
Fernon 25:230bd4e1f3ef 7
Fernon 25:230bd4e1f3ef 8 // Motor 1 & 2
Fernon 22:2e1713475f5f 9 DigitalOut Direction(D4); //1 = CCW - 0 = CW, moet nog omgezet worden naar up en down
Fernon 22:2e1713475f5f 10 PwmOut PowerMotor(D5); //van 0 tot 1
Fernon 25:230bd4e1f3ef 11 QEI Encoder(D10,D11,NC,32,QEI::X2_ENCODING); //Encoder
Fernon 28:b7d01a55530f 12 DigitalOut Direction2(D7);
Fernon 28:b7d01a55530f 13 PwmOut PowerMotor2(D6);
Fernon 29:7653adbbb101 14 QEI Encoder2(D12,D13,NC,32,QEI::X2_ENCODING);
Fernon 23:c97e206cf2a7 15 PwmOut PowerServo(D3);
Fernon 25:230bd4e1f3ef 16
Fernon 32:c2c80a2ca83d 17 // Buttons & EMG
Fernon 22:2e1713475f5f 18 DigitalIn Button(PTC6);
Fernon 23:c97e206cf2a7 19 DigitalIn Button2(PTA4);
Fernon 32:c2c80a2ca83d 20 DigitalIn Button3(D9);
Fernon 34:67f211c08e74 21 //AnalogIn EMG(A0);
Fernon 34:67f211c08e74 22 //AnalogIn EMG2(A1);
Fernon 34:67f211c08e74 23 AnalogIn EMG(A2);
Fernon 34:67f211c08e74 24 AnalogIn EMG2(A3);
Fernon 25:230bd4e1f3ef 25
Fernon 25:230bd4e1f3ef 26 // Tickers & timers
Fernon 31:85d3b4db5e2b 27
Fernon 31:85d3b4db5e2b 28 Ticker biquadTicker;
Fernon 22:2e1713475f5f 29 Ticker MotorWrite;
Fernon 22:2e1713475f5f 30 Ticker Sender;
Fernon 22:2e1713475f5f 31 Timer timer;
Fernon 31:85d3b4db5e2b 32 Timer TijdEMGCal;
Fernon 25:230bd4e1f3ef 33
Fernon 25:230bd4e1f3ef 34 // Debugging
Fernon 25:230bd4e1f3ef 35 Serial pc(USBTX, USBRX);
Fernon 29:7653adbbb101 36 HIDScope scope(6);
Fernon 32:c2c80a2ca83d 37 DigitalOut led(LED_RED);
Fernon 0:5a5f417fa1b2 38
yc238 15:f7e2b20f4dca 39
Fernon 25:230bd4e1f3ef 40
Fernon 25:230bd4e1f3ef 41 // Waardes
Fernon 25:230bd4e1f3ef 42 const double twopi = 6.2831853071795;
Fernon 25:230bd4e1f3ef 43 const double Fs=100;
Fernon 25:230bd4e1f3ef 44 int Fired = 0;
Fernon 25:230bd4e1f3ef 45
Fernon 25:230bd4e1f3ef 46 // EMG
Fernon 32:c2c80a2ca83d 47 double T1 = 0;
Fernon 32:c2c80a2ca83d 48 double T2 = 0;
Fernon 32:c2c80a2ca83d 49 double T3 = 0;
Fernon 32:c2c80a2ca83d 50 double T4 = 0;
Fernon 25:230bd4e1f3ef 51
Fernon 25:230bd4e1f3ef 52 // Motor 1 (Translatie)
Fernon 34:67f211c08e74 53 const double n1 = 3.861464193; // Aantal rondjes dat ons apparaat maximaal mag draaien (omhoog)
Fernon 22:2e1713475f5f 54 int Pulses;
Fernon 22:2e1713475f5f 55 double Rotatie = 0; //aantal graden dat de motor is gedraaid
Fernon 25:230bd4e1f3ef 56 double Goal; //initele waarde goal waar de motor naar toe moet, dit wordt gedaan
Fernon 22:2e1713475f5f 57 double Error = 0;
Fernon 22:2e1713475f5f 58 double Errord = 0;
Fernon 22:2e1713475f5f 59 double Errori = 0;
Fernon 22:2e1713475f5f 60 double Errorp = 0;
Fernon 22:2e1713475f5f 61 const double Kp = 0.2; //Moet berekend worden aan de hand van Control concept slides
Fernon 22:2e1713475f5f 62 const double Kd = 10;
Fernon 22:2e1713475f5f 63 const double Ki = 0.2;
Fernon 32:c2c80a2ca83d 64 double v = 0;
Fernon 25:230bd4e1f3ef 65 double upperlimit; //max aantal rotaties omhoog
Fernon 33:4e3870ab4e17 66 const double downlimit = 0.8;
Fernon 33:4e3870ab4e17 67 const double margin = 0.8;
Fernon 25:230bd4e1f3ef 68 bool OutRange = false;
Fernon 25:230bd4e1f3ef 69
Fernon 25:230bd4e1f3ef 70 // Motor 2 (Rotatie)
Fernon 34:67f211c08e74 71 const double n2 = 0.3125; // Aantal rondjes dat dat ons apparaat maximaal mag draaien (rotatie)
Fernon 25:230bd4e1f3ef 72 int Pulses2;
Fernon 25:230bd4e1f3ef 73 double Rotatie2 = 0;
Fernon 25:230bd4e1f3ef 74 double Goal2;
Fernon 25:230bd4e1f3ef 75 double Error2 = 0;
Fernon 25:230bd4e1f3ef 76 double Errord2 = 0;
Fernon 25:230bd4e1f3ef 77 double Errori2 = 0;
Fernon 25:230bd4e1f3ef 78 double Errorp2 = 0;
Fernon 25:230bd4e1f3ef 79 const double Kp2 = 0.2;
Fernon 25:230bd4e1f3ef 80 const double Kd2 = 10;
Fernon 25:230bd4e1f3ef 81 const double Ki2 = 0.2;
Fernon 25:230bd4e1f3ef 82 double v2 = 0;
Fernon 28:b7d01a55530f 83 double turnlimit = 0.4; // max aantal rotaties voor roteren hele robot
Fernon 25:230bd4e1f3ef 84 // Margin 2 is in ons geval 0
Fernon 25:230bd4e1f3ef 85 bool OutRange2 = false;
Fernon 25:230bd4e1f3ef 86
Fernon 25:230bd4e1f3ef 87 // Activatie tussen het schietgedeelte en terugkeergedeelte
Fernon 22:2e1713475f5f 88 bool Excecute = false;
Fernon 22:2e1713475f5f 89 bool Home = false;
Fernon 25:230bd4e1f3ef 90
Fernon 31:85d3b4db5e2b 91 // Filter
Fernon 33:4e3870ab4e17 92 double Fs2 = 500; // in Hz
Fernon 31:85d3b4db5e2b 93 const double TijdCal = 5;
Fernon 31:85d3b4db5e2b 94 double Max = 0;
Fernon 31:85d3b4db5e2b 95 double Max2 = 0;
Fernon 31:85d3b4db5e2b 96 bool Cali = false;
Fernon 31:85d3b4db5e2b 97
Fernon 31:85d3b4db5e2b 98 double u1;
Fernon 31:85d3b4db5e2b 99 double y1;
Fernon 31:85d3b4db5e2b 100 double y2;
Fernon 31:85d3b4db5e2b 101 double y3;
Fernon 31:85d3b4db5e2b 102 double y4;
Fernon 31:85d3b4db5e2b 103 double y5;
Fernon 31:85d3b4db5e2b 104 double y6;
Fernon 31:85d3b4db5e2b 105 double y7;
Fernon 31:85d3b4db5e2b 106 double y8;
Fernon 31:85d3b4db5e2b 107
Fernon 31:85d3b4db5e2b 108 double u10;
Fernon 31:85d3b4db5e2b 109 double y10;
Fernon 31:85d3b4db5e2b 110 double y12;
Fernon 31:85d3b4db5e2b 111 double y13;
Fernon 31:85d3b4db5e2b 112 double y14;
Fernon 31:85d3b4db5e2b 113 double y15;
Fernon 31:85d3b4db5e2b 114 double y16;
Fernon 31:85d3b4db5e2b 115 double y17;
Fernon 31:85d3b4db5e2b 116 double y18;
Fernon 31:85d3b4db5e2b 117
Fernon 31:85d3b4db5e2b 118 double f1_v1=0,f1_v2=0;
Fernon 31:85d3b4db5e2b 119 double f2_v1=0,f2_v2=0;
Fernon 31:85d3b4db5e2b 120 double f3_v1=0,f3_v2=0;
Fernon 31:85d3b4db5e2b 121 double f4_v1=0,f4_v2=0;
Fernon 31:85d3b4db5e2b 122 double f5_v1=0,f5_v2=0;
Fernon 31:85d3b4db5e2b 123 double f6_v1=0,f6_v2=0;
Fernon 31:85d3b4db5e2b 124 double f7_v1=0,f7_v2=0;
Fernon 31:85d3b4db5e2b 125
Fernon 31:85d3b4db5e2b 126 double f1_v3=0,f1_v4=0;
Fernon 31:85d3b4db5e2b 127 double f2_v3=0,f2_v4=0;
Fernon 31:85d3b4db5e2b 128 double f3_v3=0,f3_v4=0;
Fernon 31:85d3b4db5e2b 129 double f4_v3=0,f4_v4=0;
Fernon 31:85d3b4db5e2b 130 double f5_v3=0,f5_v4=0;
Fernon 31:85d3b4db5e2b 131 double f6_v3=0,f6_v4=0;
Fernon 31:85d3b4db5e2b 132 double f7_v3=0,f7_v4=0;
Fernon 31:85d3b4db5e2b 133
Fernon 31:85d3b4db5e2b 134 // Notch
Fernon 31:85d3b4db5e2b 135 const double gainNotch3=0.969922;
Fernon 31:85d3b4db5e2b 136 const double f3_a1=-1.56143694016, f3_a2=0.93984421899, f3_b0=1.00000000000, f3_b1=-1.60985807508, f3_b2=1.00000000000;
Fernon 31:85d3b4db5e2b 137 const double gainNotch4=0.975183;
Fernon 31:85d3b4db5e2b 138 const double f4_a1=-1.55188488157,f4_a2=0.96839115647,f4_b0=1.000000000,f4_b1=-1.60985807508,f4_b2=1.00000000;
Fernon 31:85d3b4db5e2b 139 const double gainNotch5=0.993678;
Fernon 31:85d3b4db5e2b 140 const double f5_a1=-1.61645491476,f5_a2=0.97057916088,f5_b0=1.000000000,f5_b1=-1.60985807508,f5_b2=1.00000000;
Fernon 31:85d3b4db5e2b 141
Fernon 31:85d3b4db5e2b 142 // High pass
Fernon 31:85d3b4db5e2b 143 const double gainHP1=0.939472;
Fernon 31:85d3b4db5e2b 144 const double f1_a1=-0.87894202296,f1_a2=0.00000000,f1_b0=1.0000000,f1_b1=-1.00000000,f1_b2=0.000000000;
Fernon 31:85d3b4db5e2b 145 const double gainHP2=0.935820;
Fernon 31:85d3b4db5e2b 146 const double f2_a1=-1.86387364983,f2_a2=0.87941229211,f2_b0=1.0000000000,f2_b1=-2.0000000,f2_b2=1.0000000;
Fernon 31:85d3b4db5e2b 147
Fernon 31:85d3b4db5e2b 148 // Low pass
Fernon 31:85d3b4db5e2b 149 const double gainLP6=0.000048;
Fernon 31:85d3b4db5e2b 150 const double f6_a1=-1.97326192076 , f6_a2=0.97345330126 , f6_b0=1.0000000 , f6_b1=2.0000000 , f6_b2=1.0000000;
Fernon 31:85d3b4db5e2b 151 const double gainLP7=0.000048;
Fernon 31:85d3b4db5e2b 152 const double f7_a1=-1.98030504048 , f7_a2=0.98049710408 , f7_b0=1.0000000 , f7_b1=2.0000000 , f7_b2=1.0000000;
Fernon 31:85d3b4db5e2b 153
Fernon 10:e210675cbe71 154
Fernon 25:230bd4e1f3ef 155
Fernon 25:230bd4e1f3ef 156 // Voids voor berekeningen in het hoofdprogramma
Fernon 2:f0e9ffc5df09 157
Fernon 31:85d3b4db5e2b 158 double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
Fernon 31:85d3b4db5e2b 159 {
Fernon 31:85d3b4db5e2b 160 double v = u-a1*v1-a2*v2;
Fernon 31:85d3b4db5e2b 161 double y=b0*v+b1*v1+b2*v2;
Fernon 31:85d3b4db5e2b 162 v2=v1;
Fernon 31:85d3b4db5e2b 163 v1=v;
Fernon 31:85d3b4db5e2b 164 return y;
Fernon 31:85d3b4db5e2b 165 }
Fernon 31:85d3b4db5e2b 166
Fernon 31:85d3b4db5e2b 167 void myController()
Fernon 31:85d3b4db5e2b 168 {
Fernon 31:85d3b4db5e2b 169 // EMG 1
Fernon 31:85d3b4db5e2b 170 u1 = EMG.read();
Fernon 31:85d3b4db5e2b 171 // Notch
Fernon 32:c2c80a2ca83d 172 y1 = biquad(u1,f3_v1,f3_v2,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3);
Fernon 32:c2c80a2ca83d 173 y2 = biquad(y1,f4_v1,f4_v2,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4);
Fernon 32:c2c80a2ca83d 174 y3 = biquad(y2,f5_v1,f5_v2,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5);
Fernon 31:85d3b4db5e2b 175
Fernon 31:85d3b4db5e2b 176 // HP
Fernon 32:c2c80a2ca83d 177 y4 = biquad(y3,f1_v1,f1_v2,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1);
Fernon 32:c2c80a2ca83d 178 y5 = biquad(y4,f2_v1,f2_v2,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2);
Fernon 31:85d3b4db5e2b 179
Fernon 31:85d3b4db5e2b 180 // LP
Fernon 31:85d3b4db5e2b 181 y6 = fabs(y5);
Fernon 32:c2c80a2ca83d 182 y7 = biquad(y6,f6_v1,f6_v2,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2);
Fernon 32:c2c80a2ca83d 183 y8 = biquad(y7,f7_v1,f7_v2,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2);
Fernon 31:85d3b4db5e2b 184
Fernon 31:85d3b4db5e2b 185 // EMG 2
Fernon 34:67f211c08e74 186 u10 = 0; //EMG2.read();
Fernon 31:85d3b4db5e2b 187 // Notch
Fernon 32:c2c80a2ca83d 188 y10 = biquad(u10,f3_v3,f3_v4,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3);
Fernon 32:c2c80a2ca83d 189 y12 = biquad(y10,f4_v3,f4_v4,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4);
Fernon 32:c2c80a2ca83d 190 y13 = biquad(y12,f5_v3,f5_v4,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5);
Fernon 31:85d3b4db5e2b 191
Fernon 31:85d3b4db5e2b 192 // HP
Fernon 32:c2c80a2ca83d 193 y14 = biquad(y13,f1_v3,f1_v4,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1);
Fernon 32:c2c80a2ca83d 194 y15 = biquad(y14,f2_v3,f2_v4,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2);
Fernon 31:85d3b4db5e2b 195
Fernon 31:85d3b4db5e2b 196 // LP
Fernon 31:85d3b4db5e2b 197 y16 = fabs(y15);
Fernon 32:c2c80a2ca83d 198 y17 = biquad(y16,f6_v3,f6_v4,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2);
Fernon 32:c2c80a2ca83d 199 y18 = biquad(y17,f7_v3,f7_v4,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2);
Fernon 31:85d3b4db5e2b 200
Fernon 31:85d3b4db5e2b 201 if (Cali == true) {
Fernon 31:85d3b4db5e2b 202 if (y8 >= Max) {
Fernon 31:85d3b4db5e2b 203 Max = y8;
Fernon 31:85d3b4db5e2b 204 }
Fernon 31:85d3b4db5e2b 205 if (y18 >= Max2) {
Fernon 31:85d3b4db5e2b 206 Max2 = y18;
Fernon 31:85d3b4db5e2b 207 }
Fernon 31:85d3b4db5e2b 208 }
Fernon 31:85d3b4db5e2b 209 }
Fernon 31:85d3b4db5e2b 210
yc238 14:b9c925a8176a 211 void MotorSet()
Fernon 2:f0e9ffc5df09 212 {
Fernon 27:9cca2ad74ec0 213 // Eerst motor 1 (translatie)
Fernon 23:c97e206cf2a7 214 if (OutRange) {
Fernon 23:c97e206cf2a7 215 Error = Goal-Rotatie; // De error die het motortje maakt ten opzichte van je Goal
Fernon 23:c97e206cf2a7 216 Errord = (Error-Errorp)/Fs;
Fernon 23:c97e206cf2a7 217 Errorp = Error;
Fernon 27:9cca2ad74ec0 218 if (fabs(Error) <= 0.5) {
Fernon 23:c97e206cf2a7 219 Errori = Errori + Error*1/Fs;
Fernon 23:c97e206cf2a7 220 } else {
Fernon 23:c97e206cf2a7 221 Errori = 0;
Fernon 23:c97e206cf2a7 222 }
Fernon 23:c97e206cf2a7 223 if (Error>=0) {
Fernon 23:c97e206cf2a7 224 Direction=1;
Fernon 23:c97e206cf2a7 225 } else {
Fernon 23:c97e206cf2a7 226 Direction=0;
Fernon 23:c97e206cf2a7 227 }
Fernon 23:c97e206cf2a7 228 v=Kp*Error + Kd*Errord + Ki*Errori;
Fernon 33:4e3870ab4e17 229 if (Home == true) {
Fernon 33:4e3870ab4e17 230 if (v >0.15) {
Fernon 33:4e3870ab4e17 231 v = 0.15;
Fernon 33:4e3870ab4e17 232 }
Fernon 33:4e3870ab4e17 233 }
Fernon 22:2e1713475f5f 234 }
yc238 14:b9c925a8176a 235 PowerMotor.write(fabs(v));
Fernon 25:230bd4e1f3ef 236
Fernon 27:9cca2ad74ec0 237 // Dan motor 2 (rotatie)
Fernon 27:9cca2ad74ec0 238 if (OutRange2) {
Fernon 27:9cca2ad74ec0 239 Error2 = Goal2-Rotatie2; // De error die het motortje maakt ten opzichte van je Goal
Fernon 27:9cca2ad74ec0 240 Errord2 = (Error2-Errorp2)/Fs;
Fernon 27:9cca2ad74ec0 241 Errorp2 = Error2;
Fernon 27:9cca2ad74ec0 242 if (fabs(Error2) <= 0.5) {
Fernon 27:9cca2ad74ec0 243 Errori2 = Errori2 + Error2*1/Fs;
Fernon 27:9cca2ad74ec0 244 } else {
Fernon 27:9cca2ad74ec0 245 Errori2 = 0;
Fernon 27:9cca2ad74ec0 246 }
Fernon 27:9cca2ad74ec0 247 if (Error2>=0) {
Fernon 29:7653adbbb101 248 Direction2 = 0;
Fernon 27:9cca2ad74ec0 249 } else {
Fernon 29:7653adbbb101 250 Direction2 = 1;
Fernon 27:9cca2ad74ec0 251 }
Fernon 27:9cca2ad74ec0 252 v2=Kp2*Error2 + Kd2*Errord2 + Ki2*Errori2;
Fernon 27:9cca2ad74ec0 253 }
Fernon 27:9cca2ad74ec0 254 PowerMotor2.write(fabs(v2));
Fernon 2:f0e9ffc5df09 255 }
yc238 15:f7e2b20f4dca 256 void Send()
yc238 15:f7e2b20f4dca 257 {
Fernon 22:2e1713475f5f 258 Pulses = Encoder.getPulses();
Fernon 31:85d3b4db5e2b 259 Rotatie = (Pulses*twopi)/4200;
Fernon 29:7653adbbb101 260 Pulses2 = Encoder2.getPulses();
Fernon 26:5b6c577fb3c1 261 Rotatie2 = (Pulses2*twopi)/4200;
Fernon 33:4e3870ab4e17 262 scope.set(0,Rotatie);
Fernon 33:4e3870ab4e17 263 scope.set(1,y8);
Fernon 33:4e3870ab4e17 264 scope.set(2,Rotatie2);
Fernon 33:4e3870ab4e17 265 scope.set(3,y18);
Fernon 16:b0ec8e6a8ad4 266 scope.send();
Fernon 16:b0ec8e6a8ad4 267 }
Fernon 22:2e1713475f5f 268
Fernon 32:c2c80a2ca83d 269 void Calibration ()
Fernon 32:c2c80a2ca83d 270 {
Fernon 32:c2c80a2ca83d 271 if (OutRange == false && OutRange2 == false) {
Fernon 32:c2c80a2ca83d 272 if (Button == 0) {
Fernon 32:c2c80a2ca83d 273 Cali = true;
Fernon 32:c2c80a2ca83d 274 TijdEMGCal.start();
Fernon 32:c2c80a2ca83d 275 Excecute = false;
Fernon 32:c2c80a2ca83d 276 led = 0;
Fernon 32:c2c80a2ca83d 277 v = 0;
Fernon 32:c2c80a2ca83d 278 v2 = 0;
Fernon 32:c2c80a2ca83d 279 }
Fernon 32:c2c80a2ca83d 280 }
Fernon 32:c2c80a2ca83d 281 if (TijdEMGCal.read() >= TijdCal) {
Fernon 32:c2c80a2ca83d 282 Cali = false;
Fernon 32:c2c80a2ca83d 283 led = 1;
Fernon 32:c2c80a2ca83d 284 TijdEMGCal.stop();
Fernon 32:c2c80a2ca83d 285 TijdEMGCal.reset();
Fernon 33:4e3870ab4e17 286 T1 = 0.2*Max;
Fernon 33:4e3870ab4e17 287 T2 = 0.4*Max;
Fernon 33:4e3870ab4e17 288 T3 = 0.2*Max2;
Fernon 33:4e3870ab4e17 289 T4 = 0.4*Max2;
Fernon 33:4e3870ab4e17 290 pc.printf("T1 = %f\nT2 = %f\nT3 = %f\nT4 = %f\n", T1, T2, T3, T4);
Fernon 32:c2c80a2ca83d 291 wait (3);
Fernon 32:c2c80a2ca83d 292 Excecute = true;
Fernon 32:c2c80a2ca83d 293 }
Fernon 32:c2c80a2ca83d 294 }
Fernon 32:c2c80a2ca83d 295
Fernon 0:5a5f417fa1b2 296 int main()
Fernon 0:5a5f417fa1b2 297 {
Fernon 25:230bd4e1f3ef 298 upperlimit = n1*twopi;
Fernon 25:230bd4e1f3ef 299 turnlimit = n2*twopi;
Fernon 2:f0e9ffc5df09 300 pc.baud(115200);
Fernon 2:f0e9ffc5df09 301 PowerMotor.write(0);
Fernon 28:b7d01a55530f 302 PowerMotor2.write(0);
Fernon 31:85d3b4db5e2b 303 Sender.attach(Send,1/Fs);
Fernon 31:85d3b4db5e2b 304 MotorWrite.attach(MotorSet,1/Fs);
Fernon 31:85d3b4db5e2b 305 biquadTicker.attach(myController,1/Fs2);
Fernon 23:c97e206cf2a7 306 PowerServo.period_ms(20);
Fernon 32:c2c80a2ca83d 307 led = 1;
Fernon 0:5a5f417fa1b2 308 while (true) {
Fernon 32:c2c80a2ca83d 309 Calibration();
Fernon 31:85d3b4db5e2b 310 while (Excecute) {
Fernon 33:4e3870ab4e17 311 pc.printf("Rotatie = %f \nRotatie2 = %f \n", Rotatie, Rotatie2);
Fernon 25:230bd4e1f3ef 312 // Eerst wordt motor 1 aangestuurd
Fernon 25:230bd4e1f3ef 313 if (Rotatie >= upperlimit) { //Als hij buiten bereik is
Fernon 27:9cca2ad74ec0 314 Goal = upperlimit - margin;
Fernon 23:c97e206cf2a7 315 OutRange = true;
Fernon 22:2e1713475f5f 316 }
Fernon 25:230bd4e1f3ef 317 if (Rotatie <= downlimit) { //Als hij buiten bereik is
Fernon 27:9cca2ad74ec0 318 Goal = 0 + margin;
Fernon 23:c97e206cf2a7 319 OutRange = true;
Fernon 22:2e1713475f5f 320 }
Fernon 25:230bd4e1f3ef 321 if (Rotatie >= margin && Rotatie <= upperlimit - margin) { // Voor als hij voor het eerst weer binnen bereik is
Fernon 23:c97e206cf2a7 322 OutRange = false;
Fernon 24:711c7c388e57 323 }
Fernon 25:230bd4e1f3ef 324 if (Rotatie >= downlimit && Rotatie <= upperlimit && OutRange == false) { //EMG aansturing
Fernon 32:c2c80a2ca83d 325 if (y8 >= T2 ) {
Fernon 22:2e1713475f5f 326 Direction = 1;
Fernon 33:4e3870ab4e17 327 v = 0.15;
Fernon 22:2e1713475f5f 328 }
Fernon 32:c2c80a2ca83d 329 if (y8 > T1 && y8 < T2) {
Fernon 22:2e1713475f5f 330 Direction = 0;
Fernon 33:4e3870ab4e17 331 v = 0.15;
Fernon 24:711c7c388e57 332 }
Fernon 32:c2c80a2ca83d 333 if (y8 <= T1) {
Fernon 23:c97e206cf2a7 334 Direction = 0;
Fernon 23:c97e206cf2a7 335 v = 0;
Fernon 23:c97e206cf2a7 336 }
Fernon 23:c97e206cf2a7 337 }
Fernon 24:711c7c388e57 338
Fernon 28:b7d01a55530f 339 // Vanaf hier wordt motor 2 aangestuurd
Fernon 28:b7d01a55530f 340 if (Rotatie2 >= turnlimit) { //Als hij buiten bereik is
Fernon 28:b7d01a55530f 341 Goal2 = turnlimit;
Fernon 28:b7d01a55530f 342 OutRange2 = true;
Fernon 28:b7d01a55530f 343 }
Fernon 28:b7d01a55530f 344 if (Rotatie2 <= -turnlimit) { //Als hij buiten bereik is
Fernon 28:b7d01a55530f 345 Goal2 = -turnlimit;
Fernon 28:b7d01a55530f 346 OutRange2 = true;
Fernon 28:b7d01a55530f 347 }
Fernon 28:b7d01a55530f 348 if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit) { // Voor als hij voor het eerst weer binnen bereik is
Fernon 28:b7d01a55530f 349 OutRange2 = false;
Fernon 28:b7d01a55530f 350 }
Fernon 28:b7d01a55530f 351 if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing
Fernon 32:c2c80a2ca83d 352 if (y18 >= T4 ) {
Fernon 28:b7d01a55530f 353 Direction2 = 1;
Fernon 33:4e3870ab4e17 354 v2 = 0.05;
Fernon 28:b7d01a55530f 355 }
Fernon 32:c2c80a2ca83d 356 if (y18 > T3 && y18 < T4) {
Fernon 28:b7d01a55530f 357 Direction2 = 0;
Fernon 33:4e3870ab4e17 358 v2 = 0.05;
Fernon 28:b7d01a55530f 359 }
Fernon 32:c2c80a2ca83d 360 if (y18 <= T3) {
Fernon 28:b7d01a55530f 361 Direction2 = 0;
Fernon 28:b7d01a55530f 362 v2 = 0;
Fernon 28:b7d01a55530f 363 }
Fernon 28:b7d01a55530f 364 }
Fernon 27:9cca2ad74ec0 365 if (Button2 == 0) { //Afvuren van de RBG
Fernon 31:85d3b4db5e2b 366 PowerServo.write(0.27);
Fernon 31:85d3b4db5e2b 367 wait (1);
Fernon 31:85d3b4db5e2b 368 PowerServo.write(0.04);
Fernon 31:85d3b4db5e2b 369 Fired=Fired+1;
Fernon 31:85d3b4db5e2b 370 pc.printf("Fire = %i", Fired);
Fernon 31:85d3b4db5e2b 371 if (Fired == 3) {
Fernon 31:85d3b4db5e2b 372 wait (1);
Fernon 31:85d3b4db5e2b 373 Home = true;
Fernon 31:85d3b4db5e2b 374 Excecute = false;
Fernon 31:85d3b4db5e2b 375 }
Fernon 27:9cca2ad74ec0 376 }
Fernon 32:c2c80a2ca83d 377 if (Button3 == 0) {
Fernon 32:c2c80a2ca83d 378 Excecute = false;
Fernon 32:c2c80a2ca83d 379 Home = true;
Fernon 32:c2c80a2ca83d 380 }
Fernon 32:c2c80a2ca83d 381 Calibration();
Fernon 22:2e1713475f5f 382 }
Fernon 22:2e1713475f5f 383
Fernon 25:230bd4e1f3ef 384 while (Home) { //Terugkeren naar vaste positie
Fernon 30:37e778f27fce 385 pc.printf("Home\n");
Fernon 25:230bd4e1f3ef 386 OutRange = true; //Hiermee wordt het PID gedeelte van de motor control aangestuurd.
Fernon 33:4e3870ab4e17 387 Goal = margin;
Fernon 25:230bd4e1f3ef 388 Goal2 = 0;
Fernon 30:37e778f27fce 389 if (fabs(Error)<=0.015 && fabs(Error2)<=0.015) {
Fernon 21:d0156eadcbfe 390 timer.start();
Fernon 21:d0156eadcbfe 391 } else {
Fernon 21:d0156eadcbfe 392 timer.stop();
Fernon 21:d0156eadcbfe 393 timer.reset();
Fernon 16:b0ec8e6a8ad4 394 }
Fernon 22:2e1713475f5f 395 if (timer.read() >= 3) {
Fernon 22:2e1713475f5f 396 Home = false;
Fernon 18:0f7f57228901 397 Errori = 0;
Fernon 18:0f7f57228901 398 Errord = 0;
Fernon 25:230bd4e1f3ef 399 Errorp = 0;
Fernon 25:230bd4e1f3ef 400 Errori2 = 0;
Fernon 25:230bd4e1f3ef 401 Errord2 = 0;
Fernon 25:230bd4e1f3ef 402 Errorp2 = 0;
Fernon 30:37e778f27fce 403 Fired = 0;
Fernon 32:c2c80a2ca83d 404 wait (3);
Fernon 32:c2c80a2ca83d 405 Encoder.reset();
Fernon 32:c2c80a2ca83d 406 Encoder2.reset();
Fernon 32:c2c80a2ca83d 407 Excecute = true;
Fernon 11:a9a23042fc9e 408 }
Fernon 8:a2b725b502d8 409 }
Fernon 0:5a5f417fa1b2 410 }
Fernon 22:2e1713475f5f 411 }