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@39:e5bf4b1293fa, 2015-10-29 (annotated)

Committer:
Fernon
Date:
Thu Oct 29 09:45:12 2015 +0000
Revision:
39:e5bf4b1293fa
Parent:
38:eaf245d88d84
Child:
40:cac08f589732
ROBOBIRDS working, without debugging tools. Buttons and leds are working. Testing still has to be done.

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"
Fernon 25:230bd4e1f3ef 4
Fernon 25:230bd4e1f3ef 5
Fernon 25:230bd4e1f3ef 6 // Motor 1 & 2
Fernon 22:2e1713475f5f 7 DigitalOut Direction(D4); //1 = CCW - 0 = CW, moet nog omgezet worden naar up en down
Fernon 22:2e1713475f5f 8 PwmOut PowerMotor(D5); //van 0 tot 1
Fernon 25:230bd4e1f3ef 9 QEI Encoder(D10,D11,NC,32,QEI::X2_ENCODING); //Encoder
Fernon 28:b7d01a55530f 10 DigitalOut Direction2(D7);
Fernon 28:b7d01a55530f 11 PwmOut PowerMotor2(D6);
Fernon 29:7653adbbb101 12 QEI Encoder2(D12,D13,NC,32,QEI::X2_ENCODING);
Fernon 23:c97e206cf2a7 13 PwmOut PowerServo(D3);
Fernon 25:230bd4e1f3ef 14
Fernon 32:c2c80a2ca83d 15 // Buttons & EMG
Fernon 38:eaf245d88d84 16 AnalogIn Button(A3); // Calibration Button
Fernon 38:eaf245d88d84 17 AnalogIn Button2(A4); // Fire button
Fernon 32:c2c80a2ca83d 18 DigitalIn Button3(D9);
Fernon 36:5d1225d72bca 19 AnalogIn EMG(A0);
Fernon 36:5d1225d72bca 20 AnalogIn EMG2(A1);
Fernon 25:230bd4e1f3ef 21
Fernon 25:230bd4e1f3ef 22 // Tickers & timers
Fernon 31:85d3b4db5e2b 23
Fernon 31:85d3b4db5e2b 24 Ticker biquadTicker;
Fernon 22:2e1713475f5f 25 Ticker MotorWrite;
Fernon 22:2e1713475f5f 26 Timer timer;
Fernon 31:85d3b4db5e2b 27 Timer TijdEMGCal;
Fernon 25:230bd4e1f3ef 28
Fernon 39:e5bf4b1293fa 29 // LED
Fernon 38:eaf245d88d84 30 DigitalOut ledF(LED_RED);
Fernon 38:eaf245d88d84 31 DigitalOut ledC(LED_GREEN);
Fernon 0:5a5f417fa1b2 32
yc238 15:f7e2b20f4dca 33
Fernon 25:230bd4e1f3ef 34
Fernon 25:230bd4e1f3ef 35 // Waardes
Fernon 25:230bd4e1f3ef 36 const double twopi = 6.2831853071795;
Fernon 25:230bd4e1f3ef 37 const double Fs=100;
Fernon 25:230bd4e1f3ef 38 int Fired = 0;
Fernon 25:230bd4e1f3ef 39
Fernon 25:230bd4e1f3ef 40 // EMG
Fernon 32:c2c80a2ca83d 41 double T1 = 0;
Fernon 32:c2c80a2ca83d 42 double T2 = 0;
Fernon 32:c2c80a2ca83d 43 double T3 = 0;
Fernon 32:c2c80a2ca83d 44 double T4 = 0;
Fernon 25:230bd4e1f3ef 45
Fernon 25:230bd4e1f3ef 46 // Motor 1 (Translatie)
Fernon 38:eaf245d88d84 47 const double n1 = 3.3; // Aantal rondjes dat ons apparaat maximaal mag draaien (omhoog)
Fernon 22:2e1713475f5f 48 int Pulses;
Fernon 22:2e1713475f5f 49 double Rotatie = 0; //aantal graden dat de motor is gedraaid
Fernon 25:230bd4e1f3ef 50 double Goal; //initele waarde goal waar de motor naar toe moet, dit wordt gedaan
Fernon 22:2e1713475f5f 51 double Error = 0;
Fernon 22:2e1713475f5f 52 double Errord = 0;
Fernon 22:2e1713475f5f 53 double Errori = 0;
Fernon 22:2e1713475f5f 54 double Errorp = 0;
Fernon 22:2e1713475f5f 55 const double Kp = 0.2; //Moet berekend worden aan de hand van Control concept slides
Fernon 22:2e1713475f5f 56 const double Kd = 10;
Fernon 22:2e1713475f5f 57 const double Ki = 0.2;
Fernon 32:c2c80a2ca83d 58 double v = 0;
Fernon 25:230bd4e1f3ef 59 double upperlimit; //max aantal rotaties omhoog
Fernon 33:4e3870ab4e17 60 const double downlimit = 0.8;
Fernon 33:4e3870ab4e17 61 const double margin = 0.8;
Fernon 25:230bd4e1f3ef 62 bool OutRange = false;
Fernon 25:230bd4e1f3ef 63
Fernon 25:230bd4e1f3ef 64 // Motor 2 (Rotatie)
Fernon 38:eaf245d88d84 65 const double n2 = 0.4; // Aantal rondjes dat dat ons apparaat maximaal mag draaien (rotatie)
Fernon 25:230bd4e1f3ef 66 int Pulses2;
Fernon 25:230bd4e1f3ef 67 double Rotatie2 = 0;
Fernon 25:230bd4e1f3ef 68 double Goal2;
Fernon 25:230bd4e1f3ef 69 double Error2 = 0;
Fernon 25:230bd4e1f3ef 70 double Errord2 = 0;
Fernon 25:230bd4e1f3ef 71 double Errori2 = 0;
Fernon 25:230bd4e1f3ef 72 double Errorp2 = 0;
Fernon 25:230bd4e1f3ef 73 const double Kp2 = 0.2;
Fernon 25:230bd4e1f3ef 74 const double Kd2 = 10;
Fernon 25:230bd4e1f3ef 75 const double Ki2 = 0.2;
Fernon 25:230bd4e1f3ef 76 double v2 = 0;
Fernon 28:b7d01a55530f 77 double turnlimit = 0.4; // max aantal rotaties voor roteren hele robot
Fernon 25:230bd4e1f3ef 78 // Margin 2 is in ons geval 0
Fernon 25:230bd4e1f3ef 79 bool OutRange2 = false;
Fernon 25:230bd4e1f3ef 80
Fernon 25:230bd4e1f3ef 81 // Activatie tussen het schietgedeelte en terugkeergedeelte
Fernon 22:2e1713475f5f 82 bool Excecute = false;
Fernon 22:2e1713475f5f 83 bool Home = false;
Fernon 25:230bd4e1f3ef 84
Fernon 31:85d3b4db5e2b 85 // Filter
Fernon 33:4e3870ab4e17 86 double Fs2 = 500; // in Hz
Fernon 31:85d3b4db5e2b 87 const double TijdCal = 5;
Fernon 31:85d3b4db5e2b 88 double Max = 0;
Fernon 31:85d3b4db5e2b 89 double Max2 = 0;
Fernon 31:85d3b4db5e2b 90 bool Cali = false;
Fernon 31:85d3b4db5e2b 91
Fernon 31:85d3b4db5e2b 92 double u1;
Fernon 31:85d3b4db5e2b 93 double y1;
Fernon 31:85d3b4db5e2b 94 double y2;
Fernon 31:85d3b4db5e2b 95 double y3;
Fernon 31:85d3b4db5e2b 96 double y4;
Fernon 31:85d3b4db5e2b 97 double y5;
Fernon 31:85d3b4db5e2b 98 double y6;
Fernon 31:85d3b4db5e2b 99 double y7;
Fernon 31:85d3b4db5e2b 100 double y8;
Fernon 36:5d1225d72bca 101 double y9;
Fernon 36:5d1225d72bca 102 double y10;
Fernon 31:85d3b4db5e2b 103
Fernon 31:85d3b4db5e2b 104 double u10;
Fernon 36:5d1225d72bca 105 double y11;
Fernon 31:85d3b4db5e2b 106 double y12;
Fernon 31:85d3b4db5e2b 107 double y13;
Fernon 31:85d3b4db5e2b 108 double y14;
Fernon 31:85d3b4db5e2b 109 double y15;
Fernon 31:85d3b4db5e2b 110 double y16;
Fernon 31:85d3b4db5e2b 111 double y17;
Fernon 31:85d3b4db5e2b 112 double y18;
Fernon 31:85d3b4db5e2b 113
Fernon 31:85d3b4db5e2b 114 double f1_v1=0,f1_v2=0;
Fernon 31:85d3b4db5e2b 115 double f2_v1=0,f2_v2=0;
Fernon 31:85d3b4db5e2b 116 double f3_v1=0,f3_v2=0;
Fernon 31:85d3b4db5e2b 117 double f4_v1=0,f4_v2=0;
Fernon 31:85d3b4db5e2b 118 double f5_v1=0,f5_v2=0;
Fernon 31:85d3b4db5e2b 119 double f6_v1=0,f6_v2=0;
Fernon 31:85d3b4db5e2b 120 double f7_v1=0,f7_v2=0;
Fernon 31:85d3b4db5e2b 121
Fernon 31:85d3b4db5e2b 122 double f1_v3=0,f1_v4=0;
Fernon 31:85d3b4db5e2b 123 double f2_v3=0,f2_v4=0;
Fernon 31:85d3b4db5e2b 124 double f3_v3=0,f3_v4=0;
Fernon 31:85d3b4db5e2b 125 double f4_v3=0,f4_v4=0;
Fernon 31:85d3b4db5e2b 126 double f5_v3=0,f5_v4=0;
Fernon 31:85d3b4db5e2b 127 double f6_v3=0,f6_v4=0;
Fernon 31:85d3b4db5e2b 128 double f7_v3=0,f7_v4=0;
Fernon 31:85d3b4db5e2b 129
Fernon 31:85d3b4db5e2b 130 // Notch
Fernon 31:85d3b4db5e2b 131 const double gainNotch3=0.969922;
Fernon 31:85d3b4db5e2b 132 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 133 const double gainNotch4=0.975183;
Fernon 31:85d3b4db5e2b 134 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 135 const double gainNotch5=0.993678;
Fernon 31:85d3b4db5e2b 136 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 137
Fernon 31:85d3b4db5e2b 138 // High pass
Fernon 36:5d1225d72bca 139 const double gainHP1=0.96860379641660377;
Fernon 36:5d1225d72bca 140 const double f1_a1=-1.9352943868599917,f1_a2=0.96960379641660377,f1_b0=1.0000000,f1_b1=-2.00000000,f1_b2=1.000000000;
Fernon 31:85d3b4db5e2b 141 const double gainHP2=0.935820;
Fernon 36:5d1225d72bca 142 const double f2_a1=-0.939062508174924,f2_a2=0,f2_b0=1.0000000000,f2_b1=-1.0000000,f2_b2=0.0000000;
Fernon 31:85d3b4db5e2b 143
Fernon 31:85d3b4db5e2b 144 // Low pass
Fernon 31:85d3b4db5e2b 145 const double gainLP6=0.000048;
Fernon 31:85d3b4db5e2b 146 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 147 const double gainLP7=0.000048;
Fernon 31:85d3b4db5e2b 148 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 149
Fernon 10:e210675cbe71 150
Fernon 25:230bd4e1f3ef 151
Fernon 25:230bd4e1f3ef 152 // Voids voor berekeningen in het hoofdprogramma
Fernon 2:f0e9ffc5df09 153
Fernon 31:85d3b4db5e2b 154 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 155 {
Fernon 31:85d3b4db5e2b 156 double v = u-a1*v1-a2*v2;
Fernon 31:85d3b4db5e2b 157 double y=b0*v+b1*v1+b2*v2;
Fernon 31:85d3b4db5e2b 158 v2=v1;
Fernon 31:85d3b4db5e2b 159 v1=v;
Fernon 31:85d3b4db5e2b 160 return y;
Fernon 31:85d3b4db5e2b 161 }
Fernon 31:85d3b4db5e2b 162
Fernon 31:85d3b4db5e2b 163 void myController()
Fernon 31:85d3b4db5e2b 164 {
Fernon 31:85d3b4db5e2b 165 // EMG 1
Fernon 31:85d3b4db5e2b 166 u1 = EMG.read();
Fernon 31:85d3b4db5e2b 167 // Notch
Fernon 32:c2c80a2ca83d 168 y1 = biquad(u1,f3_v1,f3_v2,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3);
Fernon 32:c2c80a2ca83d 169 y2 = biquad(y1,f4_v1,f4_v2,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4);
Fernon 32:c2c80a2ca83d 170 y3 = biquad(y2,f5_v1,f5_v2,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5);
Fernon 31:85d3b4db5e2b 171
Fernon 31:85d3b4db5e2b 172 // HP
Fernon 32:c2c80a2ca83d 173 y4 = biquad(y3,f1_v1,f1_v2,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1);
Fernon 32:c2c80a2ca83d 174 y5 = biquad(y4,f2_v1,f2_v2,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2);
Fernon 31:85d3b4db5e2b 175
Fernon 31:85d3b4db5e2b 176 // LP
Fernon 31:85d3b4db5e2b 177 y6 = fabs(y5);
Fernon 32:c2c80a2ca83d 178 y7 = biquad(y6,f6_v1,f6_v2,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2);
Fernon 32:c2c80a2ca83d 179 y8 = biquad(y7,f7_v1,f7_v2,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2);
Fernon 35:b71140a46b9c 180
Fernon 35:b71140a46b9c 181
Fernon 31:85d3b4db5e2b 182 // EMG 2
Fernon 35:b71140a46b9c 183 u10 = EMG2.read();
Fernon 31:85d3b4db5e2b 184 // Notch
Fernon 36:5d1225d72bca 185 y11 = biquad(u10,f3_v3,f3_v4,f3_a1,f3_a2,f3_b0*gainNotch3,f3_b1*gainNotch3,f3_b2*gainNotch3);
Fernon 36:5d1225d72bca 186 y12 = biquad(y11,f4_v3,f4_v4,f4_a1,f4_a2,f4_b0*gainNotch4,f4_b1*gainNotch4,f4_b2*gainNotch4);
Fernon 32:c2c80a2ca83d 187 y13 = biquad(y12,f5_v3,f5_v4,f5_a1,f5_a2,f5_b0*gainNotch5,f5_b1*gainNotch5,f5_b2*gainNotch5);
Fernon 31:85d3b4db5e2b 188
Fernon 31:85d3b4db5e2b 189 // HP
Fernon 32:c2c80a2ca83d 190 y14 = biquad(y13,f1_v3,f1_v4,f1_a1,f1_a2,f1_b0*gainHP1,f1_b1*gainHP1,f1_b2*gainHP1);
Fernon 32:c2c80a2ca83d 191 y15 = biquad(y14,f2_v3,f2_v4,f2_a1,f2_a2,f2_b0*gainHP2,f2_b1*gainHP2,f2_b2*gainHP2);
Fernon 31:85d3b4db5e2b 192
Fernon 31:85d3b4db5e2b 193 // LP
Fernon 31:85d3b4db5e2b 194 y16 = fabs(y15);
Fernon 32:c2c80a2ca83d 195 y17 = biquad(y16,f6_v3,f6_v4,f6_a1,f6_a2,gainLP6*f6_b0,gainLP6*f6_b1,gainLP6*f6_b2);
Fernon 32:c2c80a2ca83d 196 y18 = biquad(y17,f7_v3,f7_v4,f7_a1,f7_a2,gainLP7*f7_b0,gainLP7*f7_b1,gainLP7*f7_b2);
Fernon 31:85d3b4db5e2b 197
Fernon 31:85d3b4db5e2b 198 if (Cali == true) {
Fernon 31:85d3b4db5e2b 199 if (y8 >= Max) {
Fernon 31:85d3b4db5e2b 200 Max = y8;
Fernon 31:85d3b4db5e2b 201 }
Fernon 31:85d3b4db5e2b 202 if (y18 >= Max2) {
Fernon 31:85d3b4db5e2b 203 Max2 = y18;
Fernon 31:85d3b4db5e2b 204 }
Fernon 31:85d3b4db5e2b 205 }
Fernon 31:85d3b4db5e2b 206 }
Fernon 31:85d3b4db5e2b 207
yc238 14:b9c925a8176a 208 void MotorSet()
Fernon 2:f0e9ffc5df09 209 {
Fernon 39:e5bf4b1293fa 210 Pulses = Encoder.getPulses();
Fernon 39:e5bf4b1293fa 211 Rotatie = (Pulses*twopi)/4200;
Fernon 39:e5bf4b1293fa 212 Pulses2 = Encoder2.getPulses();
Fernon 39:e5bf4b1293fa 213 Rotatie2 = (Pulses2*twopi)/4200;
Fernon 27:9cca2ad74ec0 214 // Eerst motor 1 (translatie)
Fernon 23:c97e206cf2a7 215 if (OutRange) {
Fernon 23:c97e206cf2a7 216 Error = Goal-Rotatie; // De error die het motortje maakt ten opzichte van je Goal
Fernon 23:c97e206cf2a7 217 Errord = (Error-Errorp)/Fs;
Fernon 23:c97e206cf2a7 218 Errorp = Error;
Fernon 27:9cca2ad74ec0 219 if (fabs(Error) <= 0.5) {
Fernon 23:c97e206cf2a7 220 Errori = Errori + Error*1/Fs;
Fernon 23:c97e206cf2a7 221 } else {
Fernon 23:c97e206cf2a7 222 Errori = 0;
Fernon 23:c97e206cf2a7 223 }
Fernon 23:c97e206cf2a7 224 if (Error>=0) {
Fernon 23:c97e206cf2a7 225 Direction=1;
Fernon 23:c97e206cf2a7 226 } else {
Fernon 23:c97e206cf2a7 227 Direction=0;
Fernon 23:c97e206cf2a7 228 }
Fernon 23:c97e206cf2a7 229 v=Kp*Error + Kd*Errord + Ki*Errori;
Fernon 33:4e3870ab4e17 230 if (Home == true) {
Fernon 33:4e3870ab4e17 231 if (v >0.15) {
Fernon 33:4e3870ab4e17 232 v = 0.15;
Fernon 33:4e3870ab4e17 233 }
Fernon 33:4e3870ab4e17 234 }
Fernon 22:2e1713475f5f 235 }
yc238 14:b9c925a8176a 236 PowerMotor.write(fabs(v));
Fernon 25:230bd4e1f3ef 237
Fernon 27:9cca2ad74ec0 238 // Dan motor 2 (rotatie)
Fernon 27:9cca2ad74ec0 239 if (OutRange2) {
Fernon 27:9cca2ad74ec0 240 Error2 = Goal2-Rotatie2; // De error die het motortje maakt ten opzichte van je Goal
Fernon 27:9cca2ad74ec0 241 Errord2 = (Error2-Errorp2)/Fs;
Fernon 27:9cca2ad74ec0 242 Errorp2 = Error2;
Fernon 27:9cca2ad74ec0 243 if (fabs(Error2) <= 0.5) {
Fernon 27:9cca2ad74ec0 244 Errori2 = Errori2 + Error2*1/Fs;
Fernon 27:9cca2ad74ec0 245 } else {
Fernon 27:9cca2ad74ec0 246 Errori2 = 0;
Fernon 27:9cca2ad74ec0 247 }
Fernon 27:9cca2ad74ec0 248 if (Error2>=0) {
Fernon 29:7653adbbb101 249 Direction2 = 0;
Fernon 27:9cca2ad74ec0 250 } else {
Fernon 29:7653adbbb101 251 Direction2 = 1;
Fernon 27:9cca2ad74ec0 252 }
Fernon 27:9cca2ad74ec0 253 v2=Kp2*Error2 + Kd2*Errord2 + Ki2*Errori2;
Fernon 27:9cca2ad74ec0 254 }
Fernon 27:9cca2ad74ec0 255 PowerMotor2.write(fabs(v2));
Fernon 2:f0e9ffc5df09 256 }
Fernon 22:2e1713475f5f 257
Fernon 32:c2c80a2ca83d 258 void Calibration ()
Fernon 32:c2c80a2ca83d 259 {
Fernon 32:c2c80a2ca83d 260 if (OutRange == false && OutRange2 == false) {
Fernon 38:eaf245d88d84 261 if (Button >= 0.8) {
Fernon 38:eaf245d88d84 262 wait (0.2);
Fernon 32:c2c80a2ca83d 263 Cali = true;
Fernon 32:c2c80a2ca83d 264 TijdEMGCal.start();
Fernon 32:c2c80a2ca83d 265 Excecute = false;
Fernon 38:eaf245d88d84 266 ledC = 0;
Fernon 32:c2c80a2ca83d 267 v = 0;
Fernon 32:c2c80a2ca83d 268 v2 = 0;
Fernon 32:c2c80a2ca83d 269 }
Fernon 32:c2c80a2ca83d 270 }
Fernon 32:c2c80a2ca83d 271 if (TijdEMGCal.read() >= TijdCal) {
Fernon 32:c2c80a2ca83d 272 Cali = false;
Fernon 38:eaf245d88d84 273 ledC = 1;
Fernon 32:c2c80a2ca83d 274 TijdEMGCal.stop();
Fernon 32:c2c80a2ca83d 275 TijdEMGCal.reset();
Fernon 36:5d1225d72bca 276 T1 = 0.35*Max;
Fernon 37:0dbf536a95c8 277 T2 = 0.5*Max;
Fernon 36:5d1225d72bca 278 T3 = 0.35*Max2;
Fernon 37:0dbf536a95c8 279 T4 = 0.5*Max2;
Fernon 36:5d1225d72bca 280 //pc.printf("T1 = %f\nT2 = %f\nT3 = %f\nT4 = %f\n", T1, T2, T3, T4);
Fernon 32:c2c80a2ca83d 281 wait (3);
Fernon 32:c2c80a2ca83d 282 Excecute = true;
Fernon 32:c2c80a2ca83d 283 }
Fernon 32:c2c80a2ca83d 284 }
Fernon 32:c2c80a2ca83d 285
Fernon 0:5a5f417fa1b2 286 int main()
Fernon 0:5a5f417fa1b2 287 {
Fernon 25:230bd4e1f3ef 288 upperlimit = n1*twopi;
Fernon 25:230bd4e1f3ef 289 turnlimit = n2*twopi;
Fernon 38:eaf245d88d84 290 ledF = 1;
Fernon 38:eaf245d88d84 291 ledC = 1;
Fernon 2:f0e9ffc5df09 292 PowerMotor.write(0);
Fernon 28:b7d01a55530f 293 PowerMotor2.write(0);
Fernon 31:85d3b4db5e2b 294 MotorWrite.attach(MotorSet,1/Fs);
Fernon 31:85d3b4db5e2b 295 biquadTicker.attach(myController,1/Fs2);
Fernon 23:c97e206cf2a7 296 PowerServo.period_ms(20);
Fernon 0:5a5f417fa1b2 297 while (true) {
Fernon 32:c2c80a2ca83d 298 Calibration();
Fernon 31:85d3b4db5e2b 299 while (Excecute) {
Fernon 25:230bd4e1f3ef 300 // Eerst wordt motor 1 aangestuurd
Fernon 25:230bd4e1f3ef 301 if (Rotatie >= upperlimit) { //Als hij buiten bereik is
Fernon 38:eaf245d88d84 302 Goal = upperlimit - margin-0.2;
Fernon 23:c97e206cf2a7 303 OutRange = true;
Fernon 22:2e1713475f5f 304 }
Fernon 25:230bd4e1f3ef 305 if (Rotatie <= downlimit) { //Als hij buiten bereik is
Fernon 38:eaf245d88d84 306 Goal = 0 + margin +0.2;
Fernon 23:c97e206cf2a7 307 OutRange = true;
Fernon 22:2e1713475f5f 308 }
Fernon 25:230bd4e1f3ef 309 if (Rotatie >= margin && Rotatie <= upperlimit - margin) { // Voor als hij voor het eerst weer binnen bereik is
Fernon 23:c97e206cf2a7 310 OutRange = false;
Fernon 24:711c7c388e57 311 }
Fernon 25:230bd4e1f3ef 312 if (Rotatie >= downlimit && Rotatie <= upperlimit && OutRange == false) { //EMG aansturing
Fernon 32:c2c80a2ca83d 313 if (y8 >= T2 ) {
Fernon 22:2e1713475f5f 314 Direction = 1;
Fernon 38:eaf245d88d84 315 v = 0.13;
Fernon 22:2e1713475f5f 316 }
Fernon 32:c2c80a2ca83d 317 if (y8 > T1 && y8 < T2) {
Fernon 22:2e1713475f5f 318 Direction = 0;
Fernon 38:eaf245d88d84 319 v = 0.07;
Fernon 24:711c7c388e57 320 }
Fernon 32:c2c80a2ca83d 321 if (y8 <= T1) {
Fernon 23:c97e206cf2a7 322 Direction = 0;
Fernon 23:c97e206cf2a7 323 v = 0;
Fernon 23:c97e206cf2a7 324 }
Fernon 23:c97e206cf2a7 325 }
Fernon 24:711c7c388e57 326
Fernon 28:b7d01a55530f 327 // Vanaf hier wordt motor 2 aangestuurd
Fernon 28:b7d01a55530f 328 if (Rotatie2 >= turnlimit) { //Als hij buiten bereik is
Fernon 38:eaf245d88d84 329 Goal2 = turnlimit-0.1;
Fernon 28:b7d01a55530f 330 OutRange2 = true;
Fernon 28:b7d01a55530f 331 }
Fernon 28:b7d01a55530f 332 if (Rotatie2 <= -turnlimit) { //Als hij buiten bereik is
Fernon 38:eaf245d88d84 333 Goal2 = -turnlimit+0.1;
Fernon 28:b7d01a55530f 334 OutRange2 = true;
Fernon 28:b7d01a55530f 335 }
Fernon 28:b7d01a55530f 336 if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit) { // Voor als hij voor het eerst weer binnen bereik is
Fernon 28:b7d01a55530f 337 OutRange2 = false;
Fernon 28:b7d01a55530f 338 }
Fernon 28:b7d01a55530f 339 if (Rotatie2 >= -turnlimit && Rotatie2 <= turnlimit && OutRange2 == false) { // EMG aansturing
Fernon 32:c2c80a2ca83d 340 if (y18 >= T4 ) {
Fernon 28:b7d01a55530f 341 Direction2 = 1;
Fernon 38:eaf245d88d84 342 v2 = 0.07;
Fernon 28:b7d01a55530f 343 }
Fernon 32:c2c80a2ca83d 344 if (y18 > T3 && y18 < T4) {
Fernon 28:b7d01a55530f 345 Direction2 = 0;
Fernon 38:eaf245d88d84 346 v2 = 0.07;
Fernon 28:b7d01a55530f 347 }
Fernon 32:c2c80a2ca83d 348 if (y18 <= T3) {
Fernon 28:b7d01a55530f 349 Direction2 = 0;
Fernon 28:b7d01a55530f 350 v2 = 0;
Fernon 28:b7d01a55530f 351 }
Fernon 28:b7d01a55530f 352 }
Fernon 38:eaf245d88d84 353 if (Button2 >= 0.8) { //Afvuren van de RBG
Fernon 38:eaf245d88d84 354 wait(0.2);
Fernon 38:eaf245d88d84 355 ledF = 0;
Fernon 31:85d3b4db5e2b 356 PowerServo.write(0.27);
Fernon 31:85d3b4db5e2b 357 wait (1);
Fernon 31:85d3b4db5e2b 358 PowerServo.write(0.04);
Fernon 38:eaf245d88d84 359 ledF = 1;
Fernon 31:85d3b4db5e2b 360 Fired=Fired+1;
Fernon 36:5d1225d72bca 361 if (Fired == 4) {
Fernon 31:85d3b4db5e2b 362 wait (1);
Fernon 31:85d3b4db5e2b 363 Home = true;
Fernon 31:85d3b4db5e2b 364 Excecute = false;
Fernon 31:85d3b4db5e2b 365 }
Fernon 27:9cca2ad74ec0 366 }
Fernon 32:c2c80a2ca83d 367 if (Button3 == 0) {
Fernon 32:c2c80a2ca83d 368 Excecute = false;
Fernon 32:c2c80a2ca83d 369 Home = true;
Fernon 32:c2c80a2ca83d 370 }
Fernon 32:c2c80a2ca83d 371 Calibration();
Fernon 22:2e1713475f5f 372 }
Fernon 22:2e1713475f5f 373
Fernon 25:230bd4e1f3ef 374 while (Home) { //Terugkeren naar vaste positie
Fernon 25:230bd4e1f3ef 375 OutRange = true; //Hiermee wordt het PID gedeelte van de motor control aangestuurd.
Fernon 36:5d1225d72bca 376 OutRange2 = true;
Fernon 33:4e3870ab4e17 377 Goal = margin;
Fernon 25:230bd4e1f3ef 378 Goal2 = 0;
Fernon 36:5d1225d72bca 379 if (fabs(Error)<=0.1 && fabs(Error2)<=0.1) {
Fernon 21:d0156eadcbfe 380 timer.start();
Fernon 21:d0156eadcbfe 381 } else {
Fernon 21:d0156eadcbfe 382 timer.stop();
Fernon 21:d0156eadcbfe 383 timer.reset();
Fernon 16:b0ec8e6a8ad4 384 }
Fernon 22:2e1713475f5f 385 if (timer.read() >= 3) {
Fernon 18:0f7f57228901 386 Errori = 0;
Fernon 18:0f7f57228901 387 Errord = 0;
Fernon 25:230bd4e1f3ef 388 Errorp = 0;
Fernon 25:230bd4e1f3ef 389 Errori2 = 0;
Fernon 25:230bd4e1f3ef 390 Errord2 = 0;
Fernon 25:230bd4e1f3ef 391 Errorp2 = 0;
Fernon 30:37e778f27fce 392 Fired = 0;
Fernon 38:eaf245d88d84 393 wait (5);
Fernon 32:c2c80a2ca83d 394 Excecute = true;
Fernon 37:0dbf536a95c8 395 Home = false;
Fernon 11:a9a23042fc9e 396 }
Fernon 8:a2b725b502d8 397 }
Fernon 0:5a5f417fa1b2 398 }
Fernon 22:2e1713475f5f 399 }